Exterior viewing camera module for vehicle vision system

ABSTRACT

A vehicular camera module includes a housing that houses a lens barrel, a lens holder, a main circuit board, and an imager disposed on an imager circuit board that is electrically connected with the main circuit board. The main circuit board includes a main PCB and the imager circuit board includes an imager PCB. Circuitry disposed at the main PCB includes an image processor for processing image data captured by the imager. The main circuit board is accommodated within front and rear portions of the housing, while the imager is accommodated within the rear portion and is not accommodated within the front portion. The imager views exterior of the housing via an opening of the upper cover at the rear portion of the housing, and the lens barrel extends through the opening. The lens barrel is tilted at an acute angle upward relative to the plane of the main PCB.

CROSS REFERENCE TO RELATED APPLICATIONS

The present application is a continuation application of U.S. patentapplication Ser. No. 16/396,856, filed Apr. 29, 2019, now U.S. Pat. No.10,462,375, which is a continuation application of U.S. patentapplication Ser. No. 16/042,042, filed Jul. 23, 2018, now U.S. Pat. No.10,277,825, which is a continuation application of U.S. patentapplication Ser. No. 15/871,173, filed Jan. 15, 2018, now U.S. Pat. No.10,033,934, which is a continuation application of U.S. patentapplication Ser. No. 14/377,939, filed Aug. 11, 2014, now U.S. Pat. No.9,871,971, which is a 371 national phase filing of PCT Application No.PCT/US2013/026101, filed Feb. 14, 2013, which claims the filing benefitof U.S. provisional applications, Ser. No. 61/600,205, filed Feb. 17,2012, which is hereby incorporated herein by reference in its entirety.U.S. patent application Ser. No. 14/377,939 is a continuation-in-part ofU.S. patent application Ser. No. 14/233,507, filed Jan. 17, 2014, nowU.S. Pat. No. 9,596,387, which is a 371 national stage filing of PCTApplication No. PCT/US2012/048993, filed Jul. 31, 2012 and publishedFeb. 7, 2013 as International Publication No. WO 2013/019795, which ishereby incorporated herein by reference in its entirety, and whichclaims priority of U.S. provisional applications, Ser. No. 61/583,431,filed Jan. 5, 2012, and Ser. No. 61/514,191, filed Aug. 2, 2011.

FIELD OF THE INVENTION

The present invention relates to imaging systems or vision systems forvehicles.

BACKGROUND OF THE INVENTION

Use of imaging sensors in vehicle imaging systems is common and known.Examples of such known systems are described in U.S. Pat. Nos.8,324,552; 8,314,689; 8,222,588; 8,203,440; 7,994,462; 7,655,894;7,339,149; 7,344,261; 7,459,664; 7,423,248; 6,097,023; 5,949,331;5,670,935 and/or 5,550,677, which are hereby incorporated herein byreference in their entireties.

SUMMARY OF THE INVENTION

The present invention provides a vision system or imaging system for avehicle that utilizes one or more cameras to capture images exterior ofthe vehicle, and provides the communication/data signals, includingcamera data or image data, which may be displayed or processed toprovide the desired display images and/or processing and control,depending on the particular application of the camera and vision orimaging system. The present invention provides a stray light shield fora forward facing imaging (FFI) machine vision camera module. The straylight shield of the present invention adapts or customizes a standard orcommon camera module for a particular vehicle windshield application(for example, to compensate for the particular windshield angle used inthe equipped vehicle so that the stray light shield constructiongenerally compensates for the windshield rake angle so that, with thecamera module attached at the vehicle windshield, the principal line ofvision of the camera that is located in the camera module is setappropriately for the desired FFI application, for example, generallyhorizontal with the road being traveled). The stray light shieldpreferably provides a tapered or wedge-shaped pocket or recess that isdisposed in front of the lens/image sensor (such as a CMOS photosensorarray or the like) and that shields the lens/image sensor fromextraneous light emanating from within the cabin of the vehicle at whichthe camera module is disposed when the camera module is mounted eitherdirectly to the windshield or to a bracket that itself is attached atthe windshield. The stray light shield may be an integral part of thebracket that is attached to the windshield (and to which bracket thecamera module is attached, preferably detachably attached) or the lightshield may be formed as a separate component or element and may beattached or secured at the camera module (or at the bracket) before thecamera module is attached at the bracket at the windshield.

The stray light shield may include a light baffling or light trappingstructure or configuration or system that limits or reduces extraneouslight that passes through a window or windshield of the equipped vehiclefrom exterior the vehicle from being directly or indirectly imaged bythe forward facing camera that is at or near the windshield and thatviews through the windshield. The light baffling/light trappingstructure thus helps assure that light originating external of thevehicle that is incident at the image sensor of the forward facingcamera emanates from (or is reflected by) objects of interest in theforward field of view of the imager (for example, other vehicles,pedestrians, road signs, oncoming headlights, leading taillights, roadmarkers, construction zone lanes and/or the like), and the lightbaffling/light trapping structure or system does so in a manner thatreduces extraneous light (such as sunlight glare, overhead streetlights,extraneous shop or billboard lighting or the like) from glaring at orotherwise confusing image data gathered by the forward facing camera andits associated image processing system.

According to an aspect of the present invention, a vehicle vision systemor driver assistance system includes a camera module comprising animager or camera or image sensor with a field of view through a windowof the vehicle, such as a forward field of view through a windshield ofthe equipped vehicle when the camera module is disposed at the in-cabinsurface of that window or windshield. A bracket has an attachmentportion that is configured to attach at an in-cabin surface of thevehicle windshield (such as by direct adhesive attachment or byattachment to one or more attachment elements that themselves areadhered at the in-cabin surface of the vehicle windshield). A lightshield comprises a base portion and side walls (preferably tapering sidewalls) that extend upward from the base portion so as to preferablyprovide a tapered pocket or cavity or recess, and wherein an aperture isprovided at a narrower end of the tapered pocket. The camera modulecomprises the imager assembly or camera having an image sensor array anda lens, and the camera module is configured to attach at the bracket(preferably to detachably attach). When the camera module is attached atthe bracket, with the light shield disposed at the camera module, thelens is disposed at the aperture (such as to protrude at least partiallythrough the aperture and into the pocket, or such as to view into thepocket via the aperture) and views via the pocket through the windshieldof the equipped vehicle. The light shield may be an integral part of thebracket (for example, the light shield may be integrally molded with thebracket via an injection molding operation or the like) or may be aseparate structure that is attached at the camera module (or that isattached at the bracket) before the camera module is attached at thebracket at the vehicle windshield. The separate light shield (that is aseparate and distinct component from the camera module) provides anadapting or customizing feature that, when disposed at the camera moduleat the vehicle windshield, adapts or configures the camera module forthe particular vehicle and/or windshield application.

The light shield may include a light baffling device or structure orlight trap disposed in front of the camera or imager and between a lensof the camera and the window of the vehicle. The light baffling devicecomprises a plurality of baffle elements arranged in a spaced apartmanner, with each baffle element comprising a generally verticallyoriented element (or fin or rib or column or the like) having a firstsurface and a second surface opposite the first surface. The firstsurface of a given baffle element is closer to the window than thesecond surface of the given baffle element. The first surface may beconfigured to be at an angle of less than about five degrees relative tovertical and the second surface may be configured to be at an angle ofless than about ten degrees relative to vertical when the camera and thelight baffling device are normally mounted in the vehicle. The baffleelements are arranged to limit or reduce extraneous light that passesthrough the window or windshield of the equipped vehicle (that candirectly impinge or be incident on or at the camera or that may reflector scatter in front of the camera) from reaching and being imaged by thecamera.

Optionally, the first and second surfaces of the baffle element may beat different angles so that the baffle element narrows towards its upperend. The upper end of the baffle element may narrow to a point or may besubstantially pointed. The vehicle window may comprise a vehiclewindshield, such as a windshield that is angled relative to horizontal,such as an angle of at least about 15 degrees relative to horizontal orat least about 25 degrees relative to horizontal or at least about 30degrees relative to horizontal or more, such as at least about 45degrees relative to horizontal.

Therefore, the present invention provides for adaptation orcustomization of a camera module (such as a common or universal cameramodule) for various vehicle and/or windshield applications. The straylight shield of the present invention is a separate component from thecamera module and is attached at or disposed at the camera module atleast when the camera module is attached or disposed at the vehiclewindshield to adapt the camera module for the particularvehicle/windshield application. In accordance with the presentinvention, a camera module manufacturer can manufacture a standardcamera module that lacks a stray light shield, and the needed lightshield can be customized for a particular vehicle brand and/or model.Since the stray light shield can be manufactured at considerably lowercost and with greater flexibility than that of a camera module, thisaspect of the present invention improves manufacturing economy andflexibility.

The present invention also provides enhanced imaging of light, such aslight that passes through a windshield of a vehicle to a forward facingcamera disposed at or near the windshield of the vehicle, by limiting orreducing imaging of reflected or scattered light. The light bafflingelements are spaced apart in front the imaging device to reflect thescattered light and reduce the amount of reflected or scattered lightthat is received by and imaged by the imaging device or camera. Theconstruction and arrangement of the light baffling elements is selectedto limit or reduce imaging of the reflected or scattered light, and maybe optimized via computer algorithms and design systems.

These and other objects, advantages, purposes and features of thepresent invention will become apparent upon review of the followingspecification in conjunction with the drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

The drawings illustrate, by way of example only, embodiments of thepresent disclosure.

FIG. 1 is a perspective view of a vehicular camera system;

FIG. 2 is a perspective view of a vehicle having the vehicular camerasystem;

FIG. 3 is a plan view of a main circuit board of the vehicular camerasystem;

FIG. 4A is a hidden-line top view of the vehicular camera system showinginternal components;

FIG. 4B is a hidden-line perspective view of the vehicular camera systemshowing internal components;

FIG. 4C is a section view of the vehicular camera system along sectionline C-C of FIG. 4A;

FIG. 5A is an exploded view of the vehicular camera system;

FIG. 5B is an exploded view of the imager assembly;

FIGS. 6A-B, 7A-B, 8A-B are perspective views that show a method ofassembly of the vehicular camera system;

FIG. 9 is a perspective view of a vehicular camera system with a straylight shield;

FIG. 10 is a perspective view of a vehicular camera system with anotherstray light shield;

FIG. 11 is a perspective view of another vehicular camera system of thepresent invention;

FIGS. 12A and 12B are sectional views taken along the line XII-XII inFIG. 11, showing the camera system mounted at windshields havingdifferent windshield angles;

FIG. 13 is a side elevation and partial sectional view of the vehicularcamera system of FIG. 11;

FIG. 14 is a plan view of a vehicle with a vision system and imagingsensors or cameras that provide exterior fields of view in accordancewith the present invention;

FIG. 15 is a perspective view of a windshield electronics module that isconfigured for housing a camera or imaging sensor at an interior surfaceof a vehicle windshield;

FIG. 16 is a schematic showing light reflecting at a baffleconfiguration of the present invention;

FIG. 17 is a perspective schematic of the baffle configuration and lightreflection of FIG. 15;

FIG. 18 is another schematic of a baffle configuration of the presentinvention, showing baffles with a first baffle surface of about zerodegrees and a second baffle surface of about zero degrees, and asdisposed at a windshield having an angle of about 60 degrees;

FIG. 19 is another schematic of a baffle configuration of the presentinvention, showing baffles with a first baffle surface of about zerodegrees and a second baffle surface of about five degrees, and asdisposed at a windshield having an angle of about 60 degrees;

FIG. 20 is another schematic of a baffle configuration of the presentinvention, showing baffles with a first baffle surface of about zerodegrees and a second baffle surface of about ten degrees, and asdisposed at a windshield having an angle of about 60 degrees;

FIG. 21 is another schematic of a baffle configuration of the presentinvention, showing baffles with a first baffle surface of about fivedegrees and a second baffle surface of about ten degrees, and asdisposed at a windshield having an angle of about 60 degrees;

FIG. 22 is another schematic of a baffle configuration of the presentinvention, showing baffles with a first baffle surface of about fivedegrees and a second baffle surface of about five degrees, and asdisposed at a windshield having an angle of about 60 degrees;

FIG. 23 is a perspective view of a bracket or shroud for a windshieldelectronics module of the present invention;

FIG. 24 is another view of the bracket of FIG. 23;

FIG. 25 is a plan view of the bracket of FIGS. 23 and 24, shown with acamera module attached thereat;

FIG. 26 is a perspective view of the camera module and bracketconstruction of FIG. 25, shown attached at a vehicle windshield;

FIG. 26A is a sectional view of the camera module and bracketconstruction taken along the line A-A in FIG. 26;

FIG. 26B is a sectional view of the camera module and bracketconstruction taken along the line B-B in FIG. 26;

FIGS. 27A and 27B are plan views of camera module and bracketconstructions of the present invention, shown with a common cameramodule and different brackets to accommodate different vehicleapplications;

FIG. 27C is a side elevation of a camera module of the presentinvention;

FIGS. 28-30 are perspective views showing the steps in attaching abracket and camera module at a vehicle windshield in accordance with thepresent invention;

FIG. 31 is a perspective view of another camera module and separatelight shield in accordance with the present invention;

FIG. 32 is an underside perspective view of the separate light shield ofFIG. 31;

FIGS. 33-36 are views of the camera module and separate light shield ofFIG. 31, showing the assembly of the light shield to the camera module;

FIGS. 37-40 are views of the camera module and light shield assembly ofFIG. 31, showing the attachment of the camera module and light shieldassembly to a bracket attached at a vehicle windshield;

FIGS. 41 and 42 are perspective views of the camera module and lightshield assembly as attached to the bracket;

FIG. 43 is a perspective view of another camera module attachment at abracket in accordance with the present invention;

FIG. 44 is a perspective view of the separate light shield of FIG. 31;

FIG. 45 is a sectional view of the light shield of FIG. 44;

FIG. 46 is a schematic of a light shield and baffles of the presentinvention; and

FIG. 47 is a schematic of another light shield and baffles of thepresent invention.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

A vehicular camera system can be installed on the inside of the frontwindshield of a vehicle, such as a car, truck, bus, or van. Such acamera system may be used for a variety of functions such as objectdetection, lane keeping, and high beam control. FIG. 1 shows an exampleof a vehicular camera system or module 10 configured to be attached in afront-facing manner to a vehicle. The camera system 10 includes ahousing 12 and a lens barrel 14 projecting therefrom.

FIG. 2 shows a forward-facing position for a camera system 10 in thevehicle 100. The camera system or module 10 can be attached to thewindshield 102, as shown, such as via a frame or bracket that isadhesively attached at the windshield via a plurality of fixing elementsor attachment elements. Other positions are also possible. The camerasystem or camera module of the present invention may utilize aspects ofthe systems and/or modules described in PCT Application No.PCT/US2012/048993, filed Jul. 31, 2012 and published Feb. 7, 2013 asInternational Publication No. WO 2013/019795, and/or U.S. Pat. Nos.8,256,821; 7,480,149; 7,289,037; 7,004,593; 6,824,281; 6,690,268;6,445,287; 6,428,172; 6,420,975; 6,326,613; 6,278,377; 6,243,003;6,250,148; 6,172,613 and/or 6,087,953, and/or U.S. patent applicationSer. No. 11/721,406, filed Jun. 11, 2007 and published Dec. 3, 2009 asU.S. Publication No. US-2009-0295181, which are all hereby incorporatedherein by reference in their entireties.

Since the camera system 10 uses a portion of the limited amount of spaceon the windshield 102, which is needed for a clear view of the roadand/or placement of other components of the vehicle, the camera housing12 can be made as small as practical. A height H (see FIG. 4C) of thecamera housing 12 tends to have a relatively significant effect ondriver and passenger visual perception. As will be discussed below, thecomponents of the camera system 10 can be configured to reduce theheight H. In one example, the height H can be reduced to about 28 mm(about 1.1 inches), which is about 15 percent smaller than a comparablecamera system.

As shown in FIG. 3, the camera system 10 includes a main circuit board16, such as a printed circuit board (PCB), that has an opening 18, whichmay be referred to as a hole or a cut-out section. The opening 18 can beapproximately centrally located, as depicted, in the main PCB 16, or, inother examples, can be positioned at other locations. The opening 18 issurrounded by material of the main PCB 16. The opening 18 can be formedby any mechanical technique suitable for the material of the main PCB16, such as cutting, punching, drilling, or milling, or by anothertechnique, such as laser cutting. The opening 18 can be formed duringthe fabrication process of PCB material for use as PCBs or can be formedsubsequently. In the embodiment shown in FIG. 3, the opening 18 has arectangular shape with rounded inside corners. In other embodimentsother shapes, such as elliptical, can be used for the opening 18.

As seen in FIGS. 4A-C, the main PCB 16 is installed extending along abreadth B and length L of the housing 12. The main PCB 16 is dual-sidedand has circuitry or electrical components or elements established at orpopulated at both sides of the PCB. The main PCB 16 supports or includesor carries or has established thereon a digital image processor 20,memory components, power supply components, and a vehicle connector 22,which are electrically operatively coupled together by conductive tracesand vias. The processor 20 and memory are cooperatively configured toprovide functions such as image processing, object detection, and lanedetection. The main PCB 16 can be multilayered.

In the above-mentioned example where the height H of the camera housing12 is about 28 mm (about 1.1 inches), the breadth B of the housing 12can be about 58 mm (about 2.3 inches) and the length can be about 85 mm(about 3.3 inches). A forward height H2 of the housing can be about 10mm (about 0.4 inches). In addition to the 15 percent reduction inheight, these dimensions afford as much as a 35 percent reduction inbreadth and a 15 percent reduction in length with respect to thecomparable camera system.

An imager assembly 24 extends through the opening 18 of the main PCB 16.The imager assembly 24 includes an imager 26, such as an integratedcircuit (IC) imager, which receives light directed by a lens 28positioned in front of the imager 26 to capture a scene in front of thevehicle. The imager 26 can include a charge-coupled device (CCD), acomplementary metal-oxide semiconductor (CMOS) active-pixel sensor(APS), or similar device. The imager 26 is connected to an imagercircuit board 30 (such as a PCB), and a lens holder 32 mechanicallyfixes the lens 28 to the imager PCB 30. The imager PCB 30 and the lensholder 32 extend along the height H of the housing 12 partially throughthe opening 18 of the main PCB 16, which can allow for theabove-mentioned reduction in the height H of the housing 12. The imagerPCB 30 extending along the height H need not be parallel to the heightH, and the imager PCB 30 can be tilted at an angle, as depicted,resulting in the other components of the imager assembly 24 being tiltedas well. The magnitude of such angle can be selected to allow for theheight H of the housing 12 to meet an operational constraint. Forexample, when a taller housing 12 is acceptable, then the angle can be90 degrees, meaning that the imager PCB 30 extends parallel to theheight H or perpendicular to the main PCB 16. When a shorter housing 12is needed, the magnitude of the angle can be reduced, thereby tiltingthe imager PCB 30 with respect to the main PCB 16 so that the imager PCB30 is not perpendicular to the main PCB 16 (as depicted). The locationin the vehicle of the camera system 10 can be taken into account whendetermining the angle of the imager PCB 30. Geometric factors such aswindshield slope and shape of the housing 12 as well as the desiredfield of view of the camera system 10 can be taken into account. In thisexample, the angle is about 75 degrees. In other examples, the angle canbe smaller, such as about 60 degrees, or larger.

The imager PCB 30 also includes a flexible portion 34 that terminates ata small rigid PCB terminator 36. The flexible portion 34 can include anyof a flexible connector (also known as a flex connector), a flexiblePCB, a ribbon cable, wires, or the like. The flexible portion 34includes conductors that electrically connect the components of theimager PCB 30 to the terminator 36. The terminator 36 has an electricalconnector 38 that attaches to a mating electrical connector 40 on theunderside 64 of the main PCB 16. The flexible connector or ribbon cableprovides image signals/data (such as LVDS signals or the like) to thecircuitry of the main PCB. Thus, the imager 26 and the main PCB 16 areoperatively connected to allow image signals/data captured by the imager26 to be received at the processor 20. The underside 64 is locatedopposite a top side 66 of the main PCB 16 on which the lens 28 ispositioned. The electrical connector 38 can be removably attachable tothe electrical connector 40.

FIG. 5A shows an exploded view of the camera system 10, where it will beseen that the housing 12 can be subdivided into an upper cover 12 a anda lower cover 12 b. FIG. 5B shows an exploded view of the imagerassembly 24. The housing upper cover 12 a includes a lens opening 68through which the lens 28 of the imager assembly 24 receives light.

Protective components can be installed within the housing 12 and caninclude a lens gasket 42, an imager resilient member 44, a heat sink 46,and a connector resilient member 48. The lens gasket 42 serves to reduceor eliminate infiltration of dust, particulate or moisture into theimager assembly 24 between the lens 28 and the lens holder 32. The heatsink 46 is positioned on the processor 20 to collect and dissipate heatgenerated by the processor 20. Each of the resilient members 44, 48 caninclude a foam cushion, or the like. The imager resilient member 44 isof rectangular shape with a central rectangular opening sized toaccommodate the imager 26. The imager resilient member 44 surrounds theimager 26 and is sandwiched between the imager PCB 30 and the lensholder 32, and serves to reduce or eliminate infiltration of dust,particulate, or moisture past the imager PCB 30 and the lens holder 32to protect the imager 26.

As shown in FIG. 4C, the connector resilient member 48 is sandwichedbetween the PCB terminator 36 that carries the electrical connector 38and the lower cover 12 b of the housing 12, and accordingly, theconnector resilient member 48 transmits force from the lower cover 12 bto the electrical connector 38 to ensure that the electrical connector38 is firmly seated to the mating electrical connector 40 of the mainPCB 16 in order to maintain a sound electrical connection between theimager PCB 30 and the main PCB 16. In this example, the thickness of theconnector resilient member 48 is selected to be larger than the spacebetween the lower cover 12 b of the housing and the terminator 36, sothat the resiliency of the connector resilient member 48 provides aneffective seating force.

FIGS. 6A-B, 7A-B and 8A-B show a method of assembling the camera system10.

First, as shown in FIGS. 6A and 6B, the imager assembly 24 is assembled.The lens 28 is screwed into the lens holder 32, or alternatively anothertechnique, such as adhesive bonding, is used to mount the lens 28 to thelens holder 32. The lens holder 32 is fixed to the imager PCB 30 using,for example, one or more fasteners 50 (e.g., screws) that extend throughholes 70 in the imager PCB 30 and mate with threaded holes in the lensholder 32. The lens gasket 42 is slid over and around the lens 28.

Next, as shown in FIGS. 7A and 7B, the imager assembly 24 is placed inthe housing upper cover 12 a such that the lens 28 is aligned with thelens opening 68. The imager assembly 24 is mounted to the inside of thehousing upper cover 12 a by, for example, one or more fasteners 52 (suchas, for example, screws or the like), which can mate with correspondingfeatures (such as, for example, threaded holes or the like) in the uppercover 12 a. The lens holder 32 (see also FIG. 4B) includes wings 54 oneither side having openings for receiving the fasteners 52.

Next, the main PCB 16 is brought into alignment with the housing uppercover 12 a and is fitted so that a portion of the imager assembly 24extends through the opening 18 of the main PCB 16, as seen best in FIG.4C. The connector resilient member 48 is positioned on the inside of thehousing lower cover 12 b, and can be held in place using an adhesive orother technique. The connector 38 is then extended through the opening18 in the main PCB 16 (as can be seen in FIG. 8A), aligned with themating connector 40 on the underside 64 of the main PCB 16 by virtue ofthe flexible portion 34, and mated with the connector 40. The electricalconnection between the imager PCB 30 and the main PCB 16 is made. Thehousing lower cover 12 b is then fastened to the housing upper cover 12a via, for example, one or more fasteners 56, which compresses theconnector resilient member 48 to firmly seat the camera-side connector38 on the mating main PCB-side connector 40.

In other examples, the method steps described above can be performed inan order different from that described.

FIG. 9 shows a frame or bracket 60 that can be attached to the camerahousing 12 and that provides a stray light shield or light baffle or thelike. The stray light shield can function to reduce capture by thecamera lens 28 of stray light or glare that may, for example, bereflected off of the windshield. The frame or bracket 60 can be attachedto the housing 12 by, for example, a mechanical clip-and-notchstructure, referenced at 72, whereby the housing 12 of the accessory orcamera module 10 may modularly locate and/or attach at the frame orbracket 60 with the frame or bracket attached at the windshield viafixing elements or attachment elements 76. For example, narrowing slots74 can be provided in the frame or bracket 60 to removably mate withknobs or structure on the backs of the fixing elements 76. The pads offixing elements 76 can be attached to the vehicle windshield by way ofan adhesive (and such as by utilizing aspects of the modules describedin U.S. patent application Ser. No. 11/721,406, filed Jun. 11, 2007 andpublished Dec. 3, 2009 as U.S. Publication No. US-2009-0295181, which ishereby incorporated herein by reference in its entirety). Alternatively,the pads can be suction pads.

The stray light shield of the frame or bracket 60 may comprise ridges 78positioned (such as below and in front of the lens) to reduce the amountof light reflected into the lens 28 (such as by utilizing aspects of thevision systems described in U.S. provisional application Ser. No.61/600,205, filed Feb. 17, 2012, which is hereby incorporated herein byreference in its entirety). Further, a shield gasket 80 can bepositioned on the frame or bracket 60 around the lens 28 to reduceincursion of dust, particulate, or moisture into the vicinity of thelens 28. The gasket may utilize aspects of the gaskets described in U.S.patent application Ser. No. 12/393,223, filed Feb. 26, 2009, which ishereby incorporated herein by reference in its entirety. Thus, the frameor bracket 60 may be attached at the fixing elements 76 (which may beadhered at the in-cabin surface of the vehicle windshield), whereby thetapered or wedge-shaped recess or pocket (having the stray light shieldportion and tapered sidewalls) is disposed in front of the camera andlens with the camera and lens viewing through the pocket and through thevehicle windshield.

FIG. 10 shows another stray light shield 62 that can be attached to orestablished at the camera housing 12. The stray light shield 62 canfunction to reduce capture by the camera lens 28 of stray light or glarethat may, for example, be reflected off of the windshield. The straylight shield 62 can be attached to the housing 12 by, for example, amechanical clip-and-notch structure, such as shown at 82, and the module(with the stray light shield at the housing) may be mechanicallyattached to a frame or bracket adhesively attached at the windshield viaa plurality of spaced apart fixing elements or attaching elements or thelike. The stray light shield 62 can include ridges 84 positioned toreduce the amount of light reflected into the lens 28. The stray lightshield may comprise any suitable material, such as a shield thatutilizes aspects of the light baffling system of the vision systemsdescribed in U.S. provisional application Ser. No. 61/600,205, filedFeb. 17, 2012, which is hereby incorporated herein by reference in itsentirety. Thus, a stray or extraneous light shield may be selected orcustomized or adapted for a particular windshield/vehicle application ofa camera module, and may be snapped onto (via a snap fit or snapattachment) or otherwise attached at the camera module to adapt orconfigure the camera module for the particular application. For example,a common camera module may be used with a SUV having a windshield angleof, for example, about 28 degrees, or the same common module may be usedwith a compact vehicle having a windshield angle of, for example, about24 degrees, by customizing the stray light shield for the respectiverequirements of the SUV or the compact vehicle, depending on theparticular or target application of the camera module and stray lightshield.

The side walls of the stray light shield are preferably dimensioned andconfigured so as to form a pocket that (with the camera module mountedat the windshield-attached bracket) is sufficiently large or dimensionedso that the field of view of the camera does not encompass the baseportion and/or side walls of the stray light shield. When the lightshield and camera module are disposed at the windshield-attachedbracket, the roof of the pocket (the upper boundary of the pocket of thestray light shield) is formed by the windshield and optionally a portionof the bracket and windshield. For example, the stray light shield, whendisposed at the bracket, is aligned with an aperture of the bracket, anda perimeter portion of the bracket that circumscribes the bracketaperture may overlap the side walls and may extend over the stray lightshield such that a small portion of the “roof” of the stray light shieldcomprises the circumscribing portion of the bracket (and optionally thecircumscribing portion of the bracket may have light traps or ribs orcolumns thereat). The field of view of the camera, when the cameramodule and stray light shield are disposed at the windshield-attachedbracket, preferably views through the aperture of the bracket (and mayalso view through an aperture or light transmitting opening of a lightabsorbing/opaque layer or frit layer at the windshield) and preferablydoes not encompass the circumscribing portion of the bracket (or anyportion of the opaque layer at the windshield that circumscribes theaperture at the opaque layer).

Optionally, and with reference to FIGS. 11-13, a camera module 110 maybe adjustable to adapt or configure the module for different windshieldapplications (having different angles relative to horizontal) ofdifferent vehicles, while still providing the desired, generallyhorizontal, forward field of view of the camera or imager assembly 124.The camera module 110 is configured to mechanically attach to a frame orbracket 160, which includes a plurality of fixing elements or attachingelements 176, which are configured for adhesive attachment to thein-cabin surface of the vehicle windshield. The camera module 110 mayattach to the frame or bracket (with the frame or bracket attached atthe windshield surface) via any suitable means, such as via a slidingengagement or snap attachment or the like.

As can be seen with reference to FIGS. 12A and 12B, the imager assembly124 (including the imager 126, lens 128, imager circuit element or board130 and lens holder 132) extends through the opening 118 of the maincircuit element or board 116 and may be adjusted or pivoted relative tothe camera module housing 112 and main circuit board 116 to adjust theangle of the imager assembly (and the imager 126 and lens 128) relativeto horizontal so as to provide the desired field of view and viewingangle or lens tip angle of the imager assembly for differentwindshield/vehicle applications. For example, and as shown in FIG. 12A,for a windshield with a reduced slope, the imager assembly 124 ispivoted or adjusted or set to provide the desired or appropriate lenstip angle when the camera module 110 is attached at the frame or bracket160 at the windshield 102. For a windshield with a greater slope, andsuch as shown in FIG. 12B, the imager assembly 124 is pivoted oradjusted or set at a different angle relative to the main circuit board116 to provide the desired or appropriate lens tip angle when the cameramodule 110 is attached at the frame or bracket 160 at the windshield. Inboth configurations shown in FIGS. 12A and 12B, the distance D from theinner surface of the windshield 102 to the lower surface of the housing112 (when the camera module 110 is attached at the frame or bracket 160at the windshield) is about the same because the camera modules mount orattach at the windshield in the same manner, with only the imagerassembly being adjusted or pivoted within the module to adjust theviewing angle or lens tip angle of the imager assembly.

The imager assembly 124 is mounted at the housing 112 (or to the maincircuit board 116 or the like) via one or more threaded fasteners. Forexample, and as shown in FIG. 13, the imager assembly 124 may include aholder or mounting structure 125 (such as a plastic holder or the like)that is attached at the housing 112 and supports the imager 126 and lensassembly 128 and imager circuit board 130). The holder 125 includes amounting or stationary or fixed portion 125 a that may be attached orfastened to a threaded fastener 112 a of the housing, whereby arotatable portion or adjustable portion 125 b of holder 125 of imagerassembly 124 may be rotatable or pivotable or adjustable relative to themounting portion 125 a to provide for adjustment of the tip angle of thelens 128 and viewing angle of the imager 126 relative to the housing 112and main circuit board 116. The adjustable portion 125 b of the holder125 of imager assembly 124 thus may be adjusted relative to the mountingportion 125 a to provide the desired tip angle or viewing angle and maybe secured at the selected or adjusted or appropriate orientation, suchas via tightening of a fastener or the like. Optionally, the adjustableportion 125 b may have a ratcheting engagement with the mounting portion125 a or may have multiple detent settings, such that an operatoradjusts or sets or clicks the adjustable portion 125 b to the desired orappropriate angle relative to the mounting portion 125 a to set thedesired or appropriate viewing angle of the imager and lens for theparticular windshield angle of the windshield of the particular vehicleapplication of the camera module 110. Optionally, instead of having anadjustable holder portion, the holder may be removable and replaceableso that an appropriately angled holder may be selected for theparticular windshield application, with the camera and lens and circuitboard and the like being common components for various applications.

Thus, the camera module of the present invention provides for a lowprofile module that may be selected or adjusted to provide a desiredviewing angle for the particular application of the camera module. Themodule thus keeps the lens angle or viewing angle of the imager in thesame orientation or position for different windshield angleapplications. The module may be adapted or configured for differentapplications by adjusting the camera holder or installing an appropriateor selected low cost plastic holder or replacing the plastic holder withan appropriate or selected holder, while keeping the camera and lens andPCB and housing the same or common components of the module for thevarious windshield applications (so that the manufacturer does not haveto replace the PCB for different windshield angles), and while keepingthe profile of the module the same for various windshield applications.The holder may be threadedly fastened or screwed to the cover orhousing, such as at either side of the holder (with one fastener at oneside of the holder shown in FIG. 13).

Because of the number of components established at the main circuitboard, it is desirable to have the main circuit board comprise a doublesided PCB with circuitry and components established at both sides of thecircuit board. The flexible connector or cable provides LVDS signalsconveying image data captured by the imager to the image processor ofthe main circuit board. Alternately, image data captured by the imagermay be conveyed to the image processor via the likes of Ethernet or bythe protocols described in U.S. Pat. No. 7,697,027, which is herebyincorporated herein by reference in its entirety. The aperture oropening or hole in the main circuit board provides for passage of theflexible connector through the circuit board so as to establishelectrical connection to the opposite side of the main circuit board,and the aperture or opening or hole in the main circuit board also atleast partially receives a portion of imager assembly (such as a portionof the imager circuit board and/or imager and/or lens holder and/orlens) to provide a lower profile camera system or module.

Optionally, the camera module may include ventilation means forventilating the module at the windshield (such as by utilizing aspectsof the modules described in U.S. patent application Ser. No. 11/721,406,filed Jun. 11, 2007 and published Dec. 3, 2009 as U.S. Publication No.US-2009-0295181; and/or U.S. patent application Ser. No. 12/393,223,filed Feb. 26, 2009, which are hereby incorporated herein by referencein their entireties). For example, the ventilation means may compriseone or more vents or ports or ventilation openings (such as a vent orport or opening established through the housing and/or gasket and/orframe or the like), a gas permeable and fluid impermeable material, abaffle that passes air and that blocks moisture, and/or a breathablemembrane and/or the like. Such ventilation means may be provided toreduce moisture or fogging of the windshield at the viewing area of thecamera or imager. Optionally, a localized heater element or grid may beestablished at the windshield (such as a conductive trace, such as atransparent conductive trace or the like, established at the in-cabinsurface of the windshield local to the camera module) to provide heatingof the windshield at the area through which the camera views, in orderto reduce moisture or fogging of the windshield at the viewing area ofthe camera or imager.

Terms such as top side, underside, and height are used herein in arelative sense and are not intended to be limiting with respect tovertical or horizontal orientation. For example, in a hypotheticalexample, a camera system may be installed such that a top side ispositioned below an underside.

According to an aspect of the present invention, a vehicular camerasystem includes an imager assembly including an imager disposed on animager circuit board and a lens positioned to direct light to theimager. The vehicular camera system further includes a main circuitboard operatively connected to the imager circuit board. The maincircuit board includes at least one processor for processing imagescaptured by the imager. The main circuit board includes an opening, andat least a portion of the imager assembly extends through the opening.

The imager circuit board can extend through the opening of the maincircuit board. Optionally, for example, and such as best seen in FIG.6A, the imager circuit board may have a narrowed portion that is sizedto fit at least partially through the aperture or opening of the maincircuit board, with the wider portion of the imager circuit boarddisposed above the main circuit board when the imager assembly isdisposed at the main circuit board. Thus, a portion of the imagercircuit board extends through the opening of the main circuit board, andoptionally, a portion of the imager and/or of the lens holder and/or thelens may extend at least partially through the opening of the maincircuit board when the imager assembly is disposed at the main circuitboard.

The vehicular camera system can further include a housing having abreadth and a height. The main circuit board can extend generally alongthe breadth of the housing and the imager circuit board can extendgenerally along the height of the housing.

The imager circuit board can include a flexible portion that terminatesat an electrical connector. The electrical connector can be connected toan underside of the main circuit board, the underside being opposite atop side of the main circuit board at which the lens is positioned.

The vehicular camera system can further include a connector resilientmember sandwiched between the electrical connector and the housing toseat the electrical connector to a mating electrical connectorpositioned on the underside of the main circuit board.

The housing can be configured to be mounted to the front of a vehicle.

The vehicular camera system can further include a lens holder connectingthe lens and the imager circuit board.

The lens holder can extend through the opening of the main circuitboard.

The opening can be surrounded by material of the main circuit board.

The opening can have a rectangular shape.

The opening can have rounded inside corners.

The imager circuit board can be tilted at an angle with respect to themain circuit board.

The vehicular camera system can further include a stray light shieldpositioned to reduce stray light reflected to the lens.

According to another aspect of this disclosure, a method of assembling avehicular camera system includes positioning an imager assembly at a topside of a main circuit board. The imager assembly can have a lens and animager for capturing images and the main circuit board can have aprocessor for processing the captured images. The method furtherincludes extending a portion of the imager assembly through an openingin the main circuit board, and operatively connecting the portion of theimager assembly with an underside of the main circuit board opposite thetop side.

Extending a portion of the imager assembly through an opening caninclude extending a flexible portion through the opening.

Operatively connecting can include connecting an electrical connector ofthe imager assembly with a mating electrical connector of the maincircuit board.

The method can further include positioning a connector resilient memberbetween an inside of a housing and the electrical connector.

The method can further include fastening a lower cover of the housing toan upper cover of the housing to compress the connector resilient memberto firmly seat the electrical connector to the mating electricalconnector.

The method can further include fastening the imager assembly to theupper cover of the housing.

The method can further include attaching a stray light shield to thehousing.

The driver assist system and/or vision system and/or object detectionsystem and/or alert system may operate to capture images exterior of thevehicle and process the captured image data to detect objects at or nearthe vehicle and in the predicted path of the vehicle, such as to assista driver of the vehicle in maneuvering the vehicle in a rearwarddirection. The object detection may utilize detection and analysis ofmoving vectors representative of objects detected in the field of viewof the vehicle camera, in order to determine which detected objects areobjects of interest to the driver of the vehicle, such as when thedriver of the vehicle undertakes a reversing maneuver.

Referring now to FIG. 14, a vehicle 10 includes an imaging system orvision system 12 that includes a forward facing camera or imaging sensor13 disposed behind the windshield 20 of the vehicle and having a forwardfield of view through the windshield of the vehicle. The vision system12 may also include one or more other imaging sensors or cameras (suchas a rearward facing imaging sensor or camera 14 a and/or a forwardlyfacing camera 14 b at the front of the vehicle, and/or asidewardly/rearwardly facing camera 14 c, 14 b at the sides of thevehicle), which capture images exterior of the vehicle, with the camerashaving a lens for focusing images at or onto an imaging array or imagingplane of the camera (FIG. 14). The vision system 12 is operable toprocess image data captured by the cameras and may provide displayedimages at a display device 16 for viewing by the driver of the vehicle.Optionally, the vision system may process image data to detect objects,such as objects forward of the vehicle during forward driving or such asobjects to the rear of the subject or equipped vehicle during areversing maneuver, or such as approaching or following vehicles orvehicles at a side lane adjacent to the subject or equipped vehicle orthe like.

Forward facing driver assistant image sensors or cameras that areinstalled behind the vehicle's front windshield are known. It is alsoknown to encase such sensors in a manner so that light from the outsideof the vehicle can enter or be captured by the image sensor, but also sothat reduced or no light from within the vehicle is captured by theimage sensor. Some image sensor cases may have grooves or polymorphsurfaces to reduce scattered light from within the vehicle.

On optical thresholds of transparent surfaces (such as glass to air,such as the vehicle windshield to air within the cabin of the vehicle),the light passing from its source to the light sensor or camera becomesreflected, sometimes scattered. Also, the geometrics of the windshieldand the sensor housing may cause scattered light. Further, thewindshield's tilt angle may have an influence to the light reflectionratio.

Images captured by image sensors or cameras (such as forward facingimage sensors) become distorted by scattered or reflected light, whichdoes not originate from direct rays of light sources or objects in frontof the vehicle that are in the field of view of the image sensor and/orwithin the scope of the driver assistant system's surveillance (machinevision or provided to a human machine interface or HMI or the like). Thesensor case may have grooves or polymorph surfaces for catching orreducing scattered light, but these typically do not possess optimizedsurfaces for advanced scatter capturing. The light trap or baffles,formed of light absorbing materials/surfaces, may trap the extraneouslight and limit or preclude or reduce the extraneous light fromreflecting towards the camera. The light baffle or light trap maycomprise dark or light absorbing baffles or ribs or columns or pits ordepressions or the like (such as baffles or ribs formed of a dark orblack plastic material or the like) to limit or reduce the amount oflight that reflects off of the baffles.

For enhancing or optimizing the capability to capture scattered light,the present invention utilizes specifically designed baffles. Thesebaffles are disposed or placed along an inner surface of a vision systemimage sensor casing. In the illustrated embodiment, the image sensor andcasing are disposed behind the front windshield of a vehicle, and thecasing has an opening to the front capturing light that passes throughthe windshield. The baffles may comprise a plurality of spaced apartelongated ribs or vanes with angled or generally vertical surfaces. Theindividual ribs or vanes may comprise elongated linear or curved ribs orvanes (and optionally may be slightly curved to generally correspondwith the curvature of the windshield at the area where the camera moduleor windshield electronics module is disposed), with the angled surfacesof the individual ribs or vanes or elements and the spacing distancebetween the individual ribs or vanes or elements being selected toprovide the desired baffling and/or reflecting of light for theparticular application of the imaging sensor or camera. The camera ormodule may utilize aspects of the cameras described in PCT ApplicationNo. PCT/US2012/048993, filed Jul. 31, 2012 and published Feb. 7, 2013 asInternational Publication No. WO 2013/019795, which is herebyincorporated herein by reference in its entirety.

As shown in FIG. 15, the forward facing camera 13 may be disposed at orhoused at a casing or module 18 (such as at a windshield electronicsmodule or the like) that is configured to attach at an interior orin-cabin surface of a vehicle windshield 20. Optionally, the module 18and camera 13 may utilize aspects of the imaging systems and/or modulesdescribed in U.S. Pat. Nos. 7,946,505; 7,188,963; 7,004,593; 6,824,281;6,968,736; 6,690,268; 6,250,148; 6,341,523; 6,593,565; 6,428,172;6,501,387; 6,329,925 and 6,326,613, and/or in U.S. patent applicationSer. No. 10/538,724, filed Jun. 13, 2005 and published Mar. 9, 2006 asU.S. Publication No. US-2006-0050018, and/or U.S. patent applications,Ser. No. 11/721,406, filed Jun. 11, 2007, now U.S. Pat. No. 8,256,821;and/or Ser. No. 13/258,850, filed Sep. 22, 2011, now U.S. Pat. No.8,451,332, which are hereby incorporated herein by reference in theirentireties. Optionally, the forward facing camera may be disposed at amodule that is spaced from the windshield, such as at or near or part ofthe interior rearview mirror assembly, or the forward facing camera maybe disposed at or in the interior rearview mirror assembly that isattached at an in-cabin portion of the vehicle, while remaining withinthe spirit and scope of the present invention. The baffles or lightbaffling elements of the baffle configuration or structure 22 may bedisposed or established at a plate or substrate, which may be disposedat or in the module and may be arranged generally horizontally in frontof and below the imaging sensor (or a lens or optical assembly of theimaging sensor or camera), with the baffles extending laterally in across car direction in front of the imaging sensor or camera. Thebaffles or light baffling elements may be generally vertically arrangedat the plate or substrate or base of the baffle structure, so that thelight baffling elements may be generally vertically oriented when thebase of the structure is generally horizontally disposed at the vehicle(with selected angles of the opposite surfaces of the light bafflingelements as discussed below).

As shown in FIGS. 16-22, the baffles or light baffling elements have afirst or front facing reflection surface and a second or rear facingreflection surface. Both reflection surfaces are disposed at and have avertical angle. The reflection angle of the first surface is at or closeto vertical, while the reflection angle of the second surface is withinabout 10 degrees from vertical. In the illustrated embodiment, thebaffles are generally in a spike like shape, with the baffles topoptionally and desirably being substantially pointed or sharp, such asbeing as sharp as possible for the particular manufacturing techniquesused to manufacture the baffles.

As can be seen in FIGS. 16-22, the height of the baffles may be equal orsubstantially equal. Optionally, the height of the baffles may beunequal, such as in a pattern configuration, such as a linear heightpattern, an exponential height pattern a logarithmic height pattern, analternating row height pattern, a squared sine height pattern or thelike.

Optionally, the baffles are spaced apart by a predetermined or selectedor appropriate distance. For example, the baffles may be spaced apart byspecific distances, or the baffles may be set up in a pattern, or thebaffles' spacing distances may be a ratio of the height of the bafflesor spikes. Optionally, the baffles' spacing distances pattern may be alinear pattern or an exponential pattern or a logarithmic pattern or analternating row pattern or a squared sine pattern or the like.

Optionally, and desirably, the baffles' surfaces, angles, height,spacing distances and/or the like, may, at least in part, be designed orgenerated by an optimization algorithm, such as by a simulating raytracing algorithm or the like. Optionally, the optimization algorithmmay use various input parameters, such as the length, width, height,opening angle of the light sensor casing, as well the position of thesensor relative to the opening or baffles, the opening angle of thesensor optics, the tilt angle of the windshield and the differentmaterials' surface reflection ratio and/or the like. Optionally, theoptimization may comprise an evolutionary hill climbing algorithm(try-evaluate-decide change-return), or the like.

Therefore, the present invention provides a vehicle vision system thatprovides enhanced imaging of light that passes through a window ortransparent panel of a vehicle, such as through a windshield of thevehicle or the like. The light may be scattered or reflected as itpasses through the window or windshield, and the system includes abaffle or light baffling system or configuration to reduce the amount ofreflected or scattered light that is imaged by or received by theimaging sensor or camera. The vehicle vision system of the presentinvention thus provides enhanced display of information and images tothe driver of the vehicle based on images captured by one or morecameras or image sensors of the vehicle and having exterior fields ofview, such as forwardly, rearwardly and sidewardly of the vehicle.

Optionally, the bracket may include attachment means (such as slots orthe like) for attaching the bracket to one or more (such as three orfour) fixing elements or attachment elements adhered at the windshieldsurface, and may include a stray light shield that shields lightemanating from inside the vehicle from being received by the camera,such as in a similar manner as shown in FIGS. 9 and 11. Thus, thebracket provides the light shield at or in front of the camera and lens,and may also provide a light baffling element or system that limitslight emanating from outside the vehicle and passing through thewindshield from reflecting off of the generally horizontal portion ofthe bracket in front of the camera towards the camera and lens. Thelight baffling system provides a plurality of baffles or generallyvertically oriented ribs that cause the light passing through thewindshield to reflect between opposing surfaces of the ribs beforereflecting towards the camera and lens, such that the light is scatteredand the intensity of the scattered light at the camera and lens isreduced.

As discussed above, the present invention provides for a camera modulethat is attachable at or to a bracket that attaches at the vehiclewindshield, with the bracket having a light shield that is separate fromthe camera module so as to adapt the camera module for the particularvehicle or windshield application of the camera module. Typically,different OEMs and different types and styles of vehicles elect to usedifferent windshield angles (for example, some windshields of somevehicles are more vertical and some windshields of some vehicles aremore sloped). The present invention provides a light shield element orcomponent that is selected for a particular windshield or vehicleapplication, such that a common camera module may be used in variousapplications (having different windshield angles and the like), with aselected or appropriate light shield and bracket used to mount or attachthe common or universal camera module at the windshield. By placing thelight shield at the bracket and/or separate from the camera module, themanufacturer can set or compensate for the particular windshield angleof a particular vehicle by the forming or molding (such as injectionmolding of a polymeric material, preferably a dark or light absorbing ornon-reflecting plastic or polymeric material or the like) of thatparticular light shield.

The present invention thus may provide for a standard or stock cameramodule that is configured to attach to a selected particular bracket fora particular application. The field of view of the camera or imager ofthe standard camera module may be set for the different vehicleapplications by using the molding of the selected bracket for thedifferent applications. The present invention thus provides for aseparate and independent light shield, which provides for decoupling ordivorcing of the light shield from the camera module itself. Thus, whenthe light shield and bracket abut against the windshield, the apertureof the frit allows light to pass through the windshield, while the wallsof the pocket of the light shield abut the windshield (with a gasket orseal disposed therebetween) to block light emanating from inside vehiclefrom being received by the imager.

For example, and with reference to FIGS. 23-30, a camera system 310includes a camera module or housing 312 that houses a camera and lens orimager assembly 328 and that is attachable at a bracket or frame 360,which in turn is attachable at a vehicle windshield. As shown in FIGS.23 and 24, the bracket 360 comprises an attaching portion 360 a (whichmay comprise a generally planar plate or portion or a curved plate orportion that is curved to correspond to a curvature of the windshieldthat it will attach to) that has a plurality of slots or attachingelements 360 b formed thereat for attaching the bracket to a pluralityof fixing elements 376 adhered at the in-cabin surface of the vehiclewindshield. In the illustrated embodiment, there are four slots 360 bfor receiving a portion of four fixing elements 376 (FIGS. 26, 28 and29). The fixing elements 376 each have a base or adhering portion 376 afor attaching at the in-cabin surface of the vehicle windshield W and anelongated neck portion 376 b extending therefrom, and with a largerdiameter attaching portion 376 c for retaining the bracket at the fixingelement when the larger diameter attaching portion is received through alarger slot portion of the slots 360 b and moved to a narrower orsmaller slot portion of the slots 360 b, as discussed below. The bracket360 also includes one or more front tabs or elements 360 c and rear tabsor elements 360 d for retaining the camera housing or module at thebracket, as also discussed below.

As best shown in FIGS. 23 and 24, the bracket or frame 360 includes thelight shield 362 (which, in the illustrated embodiment, is integrallyformed or molded with the rest of the bracket), which comprises atapered generally wedge-shaped pocket or recess 362 a having a lower orbase portion 362 b and tapering sidewalls 362 c, with a gasket or seal362 d disposed around a perimeter of the light shield 362. An aperture362 e is established through the bracket 360 at the narrower end regionof the pocket or recess 362 a to at least partially receive a lensportion 328 a of the camera 328 when the camera module 312 is attachedat the bracket. Thus, when the bracket 360 is attached at the fixingelements 376 at the windshield W, the seal 362 d engages or sealsagainst the in-cabin surface of the windshield and the side walls 362 cand lower portion 362 b of the light shield 362 function tosubstantially block or attenuate light emanating from inside the vehiclecabin from entering the pocket or recess 362 a at which the camera isdisposed.

In the illustrated embodiment, the light shield 362 also includes aplurality of baffles or ribs at the lower portion 362 b to limit glareor reflection of light emanating from outside of the vehicle and passingthrough the windshield from being received at the camera or imagerassembly.

As shown in FIG. 28, the windshield W may have an opaque or lightabsorbing or non-light-transmitting layer 380 (such as an opaque ceramicfrit layer or the like) disposed at the area of the windshield at whichthe bracket is mounted, with an aperture 380 a established through theopaque layer generally at the area in front of and generally alignedwith the imager assembly when the bracket and camera housing areattached at the windshield.

Thus, and as can be seen with reference to FIGS. 26, 28 and 29, thewindshield W may have a plurality of fixing elements 376 adhered at itsinner or in-cabin surface at an area or region of the windshield atwhich an opaque layer 380 is established. As best shown in FIG. 28, anaperture 380 a is formed through the opaque layer 380. As shown in FIG.29, the bracket may be attached at the fixing elements 376 to attach thebracket at the windshield. As can be seen in FIG. 29, when the bracket360 is so attached, the pocket 362 a of the light shield 362 is disposedgenerally at or behind the aperture 380 a, with the seal 362 d engagingor sealing the in-cabin surface of the windshield. Optionally, the seal362 d may comprise an open cell foam material (such as by utilizingaspects of the camera systems described in U.S. patent application Ser.No. 12/393,223, filed Feb. 26, 2009, which is hereby incorporated hereinby reference in its entirety), and one or more other sealing elements orpads 382 (which may comprise any suitable material, such as a closedcell foam material or the like) may be disposed between the bracket 360and the windshield W to maintain a substantially constant gap betweenthe bracket and the windshield surface and/or to limit rattling or thelike when the bracket is attached at the windshield.

As shown in FIG. 30, the camera module or housing 312 may be moved orslid along the bracket 360 to attach the housing at the bracket. Forexample, the front of the housing 312 may include a front mounting lip312 a that is received at or engages the front mounting tab or tabs 360c of the bracket while a rear mounting tab 312 b of the camera housing312 may engage or slide along the respective rear tab 360 d of thebracket. The camera housing or module is slid along the bracket untilthe locking tab 312 c of the camera housing engages a receiving portion360 e of the bracket 360, whereby the locking tab limits orsubstantially precludes movement of the housing in the oppositedirection, thereby retaining the camera housing or module at thebracket. When the camera housing or module 312 is so attached at thebracket 360, the lens 328 a of the imager assembly protrudes at leastpartially through the opening 362 e in the shield portion 362 of thebracket 360, with its field of view through or across the pocket 362 aand through the aperture 380 a at the windshield W.

When the camera module is attached at the bracket at the windshield(such as shown in FIGS. 26, 26A and 26B), the imager assembly 328 has afield of view through the aperture 380 a in the opaque layer 380 at thewindshield W, with no obstruction in the field of view of the imager.The field of view of the imager is set (such as by the bracketconfiguration) to be at or slightly above horizontal (such as, forexample, at at least about 0.5 degrees above horizontal or about 1degree above horizontal or at about 2 degrees above horizontal orthereabouts), with the field of view of the imager encompassing theground ahead of the equipped vehicle at less than about 7 m from theimager. The stray light shield 360 is arranged so that it extends fromthe lens of the imager to where the field of view of the imager crossesthe windshield. The camera module and bracket configuration also providefor the imager to be mounted at the windshield at a location that is areduced distance from the windshield (such as less than about 4 mm,preferably less than about 2 mm and preferably about 2.0+/−1.9 mm orthereabouts).

The camera module 312 may comprise a reduced size camera module, such asa module or housing that is less than about 100 mm long (such as lessthan about 90 mm long and such as, for example, about 88 mm long orthereabouts) and that is less than about 100 mm wide (such as less thanabout 75 mm wide and such as, for example, about 58 mm wide orthereabouts) and that is less than about 35 mm tall (such as less thanabout 30 mm tall and such as, for example, about 29 mm tall orthereabouts). The imager may comprise any suitable imager or imagingarray, such as, for example, a wide VGA imager having, for example, 752columns. Optionally, the imager may only use about 640 columns of pixelsof the imaging array. Thus, the imager or image processor may have about112 columns or 56 columns in either direction to adjust the imager toaccommodate for any misalignment or yaw (such as within a range of about+/−3 to 4 degrees or thereabouts) of the imager when the camera moduleis mounted at the windshield of a vehicle. The camera module or systemmay also provide for adjustment of the imager's field of view toaccommodate variation in tip angle (such as, for example, about +/−6degrees or thereabouts) and/or roll angle (such as, for example, about+/−3 degrees or thereabouts).

As can be seen with reference to FIGS. 27A and 27B, the camera module312 may be selectively attached at a selected bracket 360 (FIG. 27A) orbracket 360′ (FIG. 27B). The selected bracket 360, 360′ establishes theangle of the imager relative to the windshield and is selected based atleast in part on the windshield angle of the vehicle at which the camerais to be installed. For example, the bracket 360 sets or mounts thecamera module for a windshield angle of about 23 degrees relative tohorizontal and a camera height of about 120 cm, while the bracket 360′sets or mounts the camera module for a windshield angle of about 23degrees relative to horizontal and a camera height of between about 120cm and about 135 cm. As can be seen by comparing FIGS. 27A and 27B, thebracket 360′ has a larger light shield 362′ than the light shield 362 ofbracket 360. As shown in FIG. 27C, the camera module 312 is formed withthe camera or imager 328 and lens 328 a angled upwardly at an angle ofat least about 10 degrees to an angle of about 20 degrees or more,preferably, for example, at an angle of about 16 degrees, relative tothe housing of the camera module. Such an angle allows the imager andmodule to be disposed close to the windshield for applications at themost common vehicle windshield or rake angles (such as between about 19degrees relative to horizontal and about 26 degrees relative tohorizontal).

Thus, in accordance with the present invention, the camera holder ormodule (including the camera and housing portion) is configured toattach to a bracket that is attachable at the in-cabin surface of thevehicle windshield, such as via attachment to one or more attachmentelements adhesively attached at the in-cabin surface of the vehiclewindshield. The bracket has an aperture for at least partially receivingand/or aligning with the camera and lens, such that the camera viewsthrough the windshield of the vehicle when the camera holder is attachedat the bracket that is attached at the windshield. The camera holderand/or the bracket and/or a separate element provides a light shieldhaving a wedge-shaped or tapered recess or pocket at the camera lens,whereby the camera views through the recess or pocket and through thewindshield (such as by utilizing aspects of the camera systems describedin U.S. Pat. Nos. 8,256,821 and/or 6,824,281, and/or U.S. patentapplication Ser. No. 13/470,860, filed May 14, 2012, now U.S. Pat. No.8,405,726, which are hereby incorporated herein by reference in theirentireties). The wedge-shaped recess or pocket is defined or formed by abase portion and opposite sidewalls that taper towards the lens and thatextend generally upwards from the base portion to form the wedge-shapedrecess or pocket between the in-cabin surface of the windshield and thebase portion.

Thus, the camera holder or module or unit may comprise a common oruniversal component for vehicle vision system, and the bracket may beselected for a particular vehicle application. For example, a bracket ofthe present invention may be selected or provided that has theappropriate attachment for a particular windshield angle and that has alight shield and wedge-shaped recess or pocket formed or selected forthe particular windshield angle and windshield application. Thus, thedimensions of the bracket and recess/pocket formed thereat may beselected or configured for particular vehicle windshield applications,while the camera module or unit may comprise a common unit that isattached at the selected particular bracket for the selected particularvehicle/windshield application.

The light shield is formed so that, when the camera module is attachedat the bracket and/or light shield, the light shield is not in the fieldof view of the imager (in other words, the cone of vision of the imagerdoes not encompass the light shield). The texture of the light shieldmay be any suitable material, such as a Rio grain texture combined withMicromatte (such as known in the texturing arts). The selected materialpreferably comprises a low gloss material (such as a material having agloss level of 10max), and is preferably a dark or black color, such asEbony 848 or the like. The selected material may comprise any suitablematerial, and may comprise a glass filled Nylon material or the like,such as, for example, ULTRAMID® B3WG6 glass fiber reinforced plasticavailable from BASF Aktiengesellschaft of Germany, or such as, forexample, Bayblend T85 XF plastic available from Bayer MaterialScience AGof Germany. Optionally, the surface of the ribs or light traps may bestippled or otherwise configured or textured so as to enhance the lighttrapping capability thereof. Although preferably light absorbing, theribs or light traps of the present invention may comprise anon-light-absorbing material/surface or may comprise a partially lightreflective material/surface or the like. Optionally, the surfaces of thelight traps may comprise fiber/flocked surfaces or the like.

Although the mounting bracket is preferably formed via injection moldingof a polymeric material and although the light shield is preferablyintegrally formed therewith in the same injection molding operation,other forms of fabrication are contemplated. For example, the bracketand the light shield integrally formed therewith may be fabricated bymetal forming, such as by stamping or casting or die casting or thelike. Preferably, for purposes of light-weightness, the bracket andlight shield integrally formed therewith may be formed of magnesiummetal, preferably fabricated using thixomolding. Other forms ofsemi-solid metal casting techniques can be used, including rheocasting,thixocasting and SIMA, such as are known in the metal fabrication arts.Optionally, non-ferrous metals, such as aluminum or aluminum alloys,magnesium or magnesium alloys or copper or copper alloys or the like,may be used in fabrication of the bracket and light shield.

Optionally, a separate stray light shield may be provided as a separatecomponent that attaches at the camera module before the camera module isattached at a bracket attached at a vehicle windshield. In such aconfiguration, a selected light shield and bracket may be selected for aparticular vehicle application, whereby the selected light shield andbracket are used with a common or universal camera module to adapt thecamera module for the particular or selected vehicle and windshieldapplication.

For example, and with reference to FIGS. 31-45, a light shield element462 is configured to attach at a camera module or camera holder orhousing 412 to provide the desired or selected or appropriate lightshield feature or configuration at the imager and lens assembly 428 forthe particular vehicle windshield application of the camera module. Inthe illustrated embodiment, the light shield element 462 comprises atapered generally wedge-shaped pocket or recess 462 a having a lower orbase portion 462 b and tapering sidewalls 462 c. A partial aperture ornotch 462 e is established at the narrower end region of the pocket orrecess 462 a to at least partially receive a lens portion 428 a of thecamera 428 when the light shield 462 is attached at the camera module412. In the illustrated embodiment, the light shield 462 also includes aplurality of baffles or ribs at the lower portion 462 b to limit glareor reflection of light emanating from outside of the vehicle and passingthrough the windshield from being received at the camera or imagerassembly.

As shown in FIGS. 31-36, the light shield element 462 is configured tobe partially received at a generally planar light shield attachingportion 412 d of the camera module. In the illustrated embodiment, thecamera module 412 includes a partial wall or rib 412 e that receives abase or footprint 462 f of the light shield and also includes a pair ofprotrusions 412 f that are received in respective slots 462 g of thelight shield to locate the light shield 462 at the camera module so thatthe light shield is generally aligned with the imager and lens assembly428. As shown in FIG. 32, the light shield 462 may include an adhesivelayer or pad 462 h (such as a pressure sensitive adhesive layer, such asa VHB adhesive or the like, such as, for example, an Acrylic Plus TapeSeries EX4000 adhesive commercially available from 3M of St. Paul,Minn.) that adheres the base of the light shield at the attachingportion 412 d of the camera module.

Thus, and as shown in FIGS. 33-36, the light shield 462 may be attachedat the camera module 412 by angling the light shield as shown in FIG. 33and moving or sliding the light shield towards the imager until the baseor footprint 462 f of the light shield 462 is stopped by the partialwall 412 e of the camera module. When the light shield contacts thepartial wall or rib 412 e, the light shield is then pivoted or pressedor moved downward to engage the base or footprint of the light shieldwith the attaching portion of the camera module, whereby the lightshield is adhered to the attaching portion of the camera module. Whenthe light shield is pivoted downward, the protrusions 412 f are receivedin the respective slots 462 g to guide and locate the light shield atthe appropriate or desired location at the camera module. The lightshield 462 may also include a forward tab or lip 462 i that engages orcontacts the forward end of the camera module when the light shield isadhered at the camera module.

After the light shield 462 is attached or adhered at the camera module412, the camera module and light shield construction or assembly may beattached at a bracket 460 (such as a bracket already attached at awindshield of a vehicle or at a bracket that is configured forattachment at a windshield of a vehicle), such as shown in FIGS. 37-43.The bracket and light shield may be selected for a particular vehiclewindshield application to adapt or configure the camera module for thatparticular vehicle windshield application. The bracket may be configuredto attach at a vehicle windshield via any suitable manner, such as via aplurality of fixing elements or buttons that are adhered at the vehiclewindshield and that are received through respective slots or apertures(not shown in FIGS. 37-43) of the bracket, such as in a similar manneras described above, or the bracket may be adhered directly at thevehicle windshield or may otherwise attach to one or more fixingelements or buttons adhered at the vehicle windshield.

In the illustrated embodiment, the bracket 460 (such as a metallicbracket formed by stamping or the like) comprises a generally planarportion 460 a and a pair of spaced apart forward tabs 460 b and a pairof spaced apart rearward side tabs 460 c. The forward tabs 460 b areconfigured to receive respective posts or protrusions 412 g at oppositesides of the camera module as the camera module is moved towards thebracket 460 (such as can be seen with reference to FIGS. 37-40). Whenthe posts 412 g are received in the tabs or hooks 460 b of the bracket460 (FIG. 40), the camera module 412 is pivoted upward until therearward side tabs 460 c engage respective tabs 412 h at the upper rearregion of the camera module 412. The rearward side tabs 460 c flex toreceive and retain the tabs 412 h to secure or retain or mount or attachthe camera module 412 at the bracket 460. In the illustrated embodiment,and as best shown in FIGS. 38-40 and 43, the bracket 460 also includesone or more rear tabs 460 d at the rear of the bracket for engaging orreceiving respective rear tabs or elements 412 i at the rear of thecamera module 412. The bracket 460 is formed so that the generallyplanar portion 460 a has a generally wedge-shaped or tapered aperture ofnotch 460 e formed therethrough that generally corresponds to the shapeof the light shield (and may be sized to be slightly larger than thetapered pocket of the light shield). Thus, when the camera module andlight shield assembly is attached at the bracket, the bracket does notinterfere with the forward field of view of the imager (such as can beseen with reference to FIGS. 41 and 42).

The bracket is formed such that it at least partially circumscribes thelight shield, with the roof or upper boundary of the light shield (whendisposed at the windshield-attached bracket) comprising the windshield.Optionally, a sealing element may be disposed at and along the upperedge region of the light shield for sealing against the in-cabin surfaceof the windshield or against a portion of the bracket (where the bracketmay overlap the side walls of the light shield, and where the bracketmay include a sealing element to seal against the in-cabin surface ofthe windshield). Thus, when the light shield and camera module aredisposed at the windshield-attached bracket, the roof of the pocket (theupper boundary of the pocket of the stray light shield) is formed by thewindshield and optionally a portion of the bracket and windshield. Forexample, the stray light shield, when disposed at thewindshield-attached bracket, is aligned with an aperture or opening ofthe bracket, and a perimeter portion of the bracket that circumscribesor partially circumscribes the bracket aperture or opening may overlapthe side walls and may extend over the stray light shield such that asmall portion of the “roof” of the stray light shield comprises thecircumscribing portion of the bracket (and optionally the circumscribingportion of the bracket may have light traps or ribs or columns thereat).The field of view of the camera, when the camera module and stray lightshield are disposed at the windshield-attached bracket, preferably viewsthrough the aperture of the bracket (and may also view through anaperture of an opaque layer or frit layer at the windshield) andpreferably does not encompass the circumscribing portion of the bracket(or any portion of the opaque layer at the windshield that circumscribesthe aperture at the opaque layer).

Thus, the present invention provides a light shield that is separate anddistinct from the camera module. The light shield may be incorporatedinto or formed with or molded as part of the bracket (such as a plasticbracket formed by injection molding or the like, preferably of a dark oropaque or black plastic material or the like), or the light shield maycomprise a separate and distinct component or element (such as a plasticlight shield element formed by injection molding or the like of a darkor opaque or black plastic material or the like) that is separate fromthe camera module and separate from the bracket. In such an embodiment,the bracket may comprise a metallic bracket that may be stamped orformed to provide the desired hooks or tabs for mounting the cameramodule thereat (and optionally with some of the tabs riveted orotherwise attached at the metallic bracket).

In the illustrated embodiment, the light shield element 462 provides aplurality of ribs or baffles 462 j (FIG. 45) that are formed across thebase portion 462 b and at least partially up the side walls 462 c of thelight shield. The ribs or baffles 462 j are spaced apart along the baseportion 462 b and function to scatter and trap light emanating fromexterior of the vehicle that passes through the windshield and that may,absent the presence of the baffles or ribs, reflect off of the baseportion 462 b and into the lens 428 a of the imager (see, for example,the schematic of FIG. 46).

The baffles or ribs protrude upward from the base portion at least about0.5 mm and preferably at least about 1 mm, and are at least about 0.5 mmwide and preferably at least about 1 mm wide. The spacing of the bafflesis selected to be at least about 0.5 mm and preferably at least about 1mm between a rear surface of one baffle and a forward surface of anadjacent baffle. In the illustrated embodiment of FIG. 45, the bafflescomprise rounded ribs that protrude upwards about 1.2 mm and are about1.2 mm wide and are spaced apart by about 1.3 mm (having about a 2.5 mmpitch). The baffles are preferably angled relative to the generallyplanar base portion and may be angled at least about 90 degrees andoptionally, for example, about 93.5 degrees as shown in FIG. 45. Asshown in FIG. 45, the light shield has the baffles or ribs 462 jextending at least partially up the side walls 462 c, which are taperedor angled or formed to generally correspond with the windshield anglefor the particular application of the camera module and light shieldassembly. Optionally, and desirably, the ratio of the distance betweenthe ribs to the height of the ribs is preferably greater than about 1,such as a ratio of about 1 to about 1.5. Optionally, and desirably, thespacing distance between the ribs is at least about 0.5 mm and less thanabout 3 mm.

Optionally, and desirably, and such as shown in the schematic of FIG.47, the baffles or ribs of a light trapping or scattering element may beformed with a generally vertical forward surface (which is generallynormal to the generally planar base portion) and an angled rearwardsurface (which is angled towards the forward surface so as to form agenerally pointed baffle or rib). For example, the forward surface ofthe baffles may be at an angle of about 90 degrees relative to the baseportion and the rearward surface of the baffles are at an angle relativetowards the forward surface, such as at an angle of less than about 15degrees relative to the forward surface, preferably less than about 10degrees relative to the forward surface and preferably less than about 5degrees relative to the forward surface, and greater than about 2degrees relative to the forward surface. Such a configuration of spacedapart baffles or ribs provides enhanced trapping of light that passesthrough the vehicle windshield and towards the light trap and baffles orribs. However, clearly, other configurations of baffles or ribs or lighttrapping means (such as vertical posts or pillars or the like or such asa surface having a plurality of compartments or walls or the like orsuch as a textured surface or light absorbing black flocked material orthe like) may be implemented at a camera module or windshieldelectronics module or the like, while remaining within the spirit andscope of the present invention. The present invention thus provides anengineered structured light trap that is incorporated as part of thelight shield during the fabrication of the light shield, such as duringan injection molding process. Optionally, the light scattering ortrapping element may be molded of a plastic material or may be cast ormachined of a metallic material or the like.

The camera or imager or imaging sensor may comprise any suitable cameraor imager or sensor. Optionally, the camera may comprise a “smartcamera” that includes the imaging sensor array and associated circuitryand image processing circuitry and electrical connectors and the like aspart of a camera module, such as by utilizing aspects of the visionsystems described in PCT Application No. PCT/US2012/066571, filed Nov.27, 2012, and published Jun. 6, 2013 as International Publication No. WO2013/081985, and/or PCT Application No. PCT/US2012/066570, filed Nov.27, 2012, and published Jun. 6, 2013 as International Publication No. WO2013/081984, which are hereby incorporated herein by reference in theirentireties.

The vehicle may include any type of sensor or sensors, such as imagingsensors or radar sensors or lidar sensors or ladar sensors or ultrasonicsensors or the like. The imaging sensor or camera may capture image datafor image processing and may comprise any suitable camera or sensingdevice, such as, for example, an array of a plurality of photosensorelements arranged in at least about 640 columns and 480 rows (at leastabout a 640×480 imaging array), with a respective lens focusing imagesonto respective portions of the array. Alternatively, a megapixel imagermay be utilized that comprises a photosensor array with at least onemillion photosensor elements, preferably arranged in rows and columns,and the image processor associated therewith and processing image datacaptured thereby is preferably an EYEQ3™ image processing chip availablefrom Mobileye Vision Technologies Ltd. of Jerusalem, Israel. Thephotosensor array may comprise a plurality of photosensor elementsarranged in a photosensor array having rows and columns. The logic andcontrol circuit of the imaging sensor may function in any known manner,and the image processing and algorithmic processing may comprise anysuitable means for processing the images and/or image data. For example,the vision system and/or processing and/or camera and/or circuitry mayutilize aspects described in U.S. Pat. Nos. 7,005,974; 5,760,962;5,877,897; 5,796,094; 5,949,331; 6,222,447; 6,302,545; 6,396,397;6,498,620; 6,523,964; 6,611,202; 6,201,642; 6,690,268; 6,717,610;6,757,109; 6,802,617; 6,806,452; 6,822,563; 6,891,563; 6,946,978;7,859,565; 5,550,677; 5,670,935; 6,636,258; 7,145,519; 7,161,616;7,230,640; 7,248,283; 7,295,229; 7,301,466; 7,592,928; 7,881,496;7,720,580; 7,038,577; 6,882,287; 5,929,786 and/or 5,786,772, PCTApplication No. PCT/US2010/047256, filed Aug. 31, 2010 and publishedMar. 10, 2011 as International Publication No. WO 2011/028686 and/orInternational Publication No. WO 2010/099416, published Sep. 2, 2010,and/or PCT Application No. PCT/US10/25545, filed Feb. 26, 2010 andpublished Sep. 2, 2010 as International Publication No. WO 2010/099416,and/or PCT Application No. PCT/US2012/048800, filed Jul. 30, 2012, andpublished Feb. 7, 2013 as International Publication No. WO 2013/019707,and/or PCT Application No. PCT/US2012/048110, filed Jul. 25, 2012, andpublished Jan. 31, 2013 as International Publication No. WO 2013/016409,and/or PCT Application No. PCT/CA2012/000378, filed Apr. 25, 2012, andpublished Nov. 1, 2012 as International Publication No. WO 20112/145822,and/or PCT Application No. PCT/US2012/056014, filed Sep. 19, 2012, andpublished Mar. 28, 2013 as International Publication No. WO 2013/043661,and/or PCT Application No. PCT/US12/57007, filed Sep. 25, 2012, andpublished Apr. 4, 2013 as International Publication No. WO 2013/048994,and/or PCT Application No. PCT/US2012/061548, filed Oct. 24, 2012, andpublished May 2, 2013 as International Publication No. WO 2013/063014,and/or PCT Application No. PCT/US2012/062906, filed Nov. 1, 2012, andpublished May 10, 2013 as International Publication No. WO 2013/067083,and/or PCT Application No. PCT/US2012/063520, filed Nov. 5, 2012, andpublished May 16, 2013 as International Publication No. WO 2013/070539,and/or PCT Application No. PCT/US2012/064980, filed Nov. 14, 2012, andpublished May 23, 2013 as International Publication No. WO 2013/074604,and/or PCT Application No. PCT/US2012/066570, filed Nov. 27, 2012, andpublished Jun. 6, 2013 as International Publication No. WO 2013/081984,and/or PCT Application No. PCT/US2012/066571, filed Nov. 27, 2012, andpublished Jun. 6, 2013 as International Publication No. WO 2013/081985,and/or PCT Application No. PCT/US2012/068331, filed Dec. 7, 2012, andpublished Jun. 13, 2013 as International Publication No. WO 2013/086249,and/or PCT Application No. PCT/US2012/071219, filed Dec. 21, 2012, andpublished on Jul. 11, 2013 as International Publication No. WO2013/103548, and/or PCT Application No. PCT/US2013/022119, filed Jan.18, 2013, and published Jul. 25, 2013 as International Publication No.WO 2013/109869, and/or U.S. patent applications, Ser. No. 13/681,963,filed Nov. 20, 2012, now U.S. Pat. No. 9,264,673; Ser. No. 13/660,306,filed Oct. 25, 2012, now U.S. Pat. No. 9,146,898; Ser. No. 13/653,577,filed Oct. 17, 2012, now U.S. Pat. No. 9,174,574; and/or Ser. No.13/534,657, filed Jun. 27, 2012, and published Jan. 3, 2013 as U.S.Publication No. US-2013-002873, and/or U.S. provisional applications,Ser. No. 61/736,104, filed Dec. 12, 2012; Ser. No. 61/736,103, filedDec. 12, 2012; Ser. No. 61/735,314, filed Dec. 10, 2012; Ser. No.61/734,457, filed Dec. 7, 2012; Ser. No. 61/733,598, filed Dec. 5, 2012;Ser. No. 61/733,093, filed Dec. 4, 2012; Ser. No. 61/727,912, filed Nov.19, 2012; Ser. No. 61/727,911, filed Nov. 19, 2012; Ser. No. 61/727,910,filed Nov. 19, 2012; Ser. No. 61/718,382, filed Oct. 25, 2012; Ser. No.61/710,924, filed Oct. 8, 2012; Ser. No. 61/696,416, filed Sep. 4, 2012;Ser. No. 61/682,995, filed Aug. 14, 2012; Ser. No. 61/682,486, filedAug. 13, 2012; Ser. No. 61/680,883, filed Aug. 8, 2012; Ser. No.61/676,405, filed Jul. 27, 2012; Ser. No. 61/666,146, filed Jun. 29,2012; Ser. No. 61/648,744, filed May 18, 2012; Ser. No. 61/624,507,filed Apr. 16, 2012; Ser. No. 61/616,126, filed Mar. 27, 2012; Ser. No.61/615,410, filed Mar. 26, 2012; Ser. No. 61/613,651, filed Mar. 21,2012; Ser. No. 61/607,229, filed Mar. 6, 2012; Ser. No. 61/602,876,filed Feb. 24, 2012, which are all hereby incorporated herein byreference in their entireties. The system may communicate with othercommunication systems via any suitable means, such as by utilizingaspects of the systems described in PCT Application No. PCT/US10/038477,filed Jun. 14, 2010, and/or U.S. patent application Ser. No. 13/202,005,filed Aug. 17, 2011, now U.S. Pat. No. 9,126,525, which are herebyincorporated herein by reference in their entireties.

The imaging device and control and image processor and any associatedillumination source, if applicable, may comprise any suitablecomponents, and may utilize aspects of the cameras and vision systemsdescribed in U.S. Pat. Nos. 5,550,677; 5,877,897; 6,498,620; 5,670,935;5,796,094; 6,396,397; 6,806,452; 6,690,268; 7,005,974; 7,123,168;7,004,606; 6,946,978; 7,038,577; 6,353,392; 6,320,176; 6,313,454 and6,824,281, and/or International Publication No. WO 2010/099416,published Sep. 2, 2010, and/or PCT Application No. PCT/US10/47256, filedAug. 31, 2010 and published Mar. 10, 2011 as International PublicationNo. WO 2011/028686, and/or U.S. patent application Ser. No. 12/508,840,filed Jul. 24, 2009, and published Jan. 28, 2010 as U.S. Pat.Publication No. US 2010-0020170, and/or PCT Application No.PCT/US2012/048110, filed Jul. 25, 2012, and published Jan. 31, 2013 asInternational Publication No. WO 2013/016409, and/or U.S. patentapplication Ser. No. 13/534,657, filed Jun. 27, 2012, and published Jan.3, 2013 as U.S. Publication No. US-2013-0002873, which are all herebyincorporated herein by reference in their entireties. The camera orcameras may comprise any suitable cameras or imaging sensors or cameramodules, and may utilize aspects of the cameras or sensors described inU.S. patent applications, Ser. No. 12/091,359, filed Apr. 24, 2008 andpublished Oct. 1, 2009 as U.S. Publication No. US-2009-0244361, and/orSer. No. 13/260,400, filed Sep. 26, 2011, now U.S. Pat. No. 8,542,451,and/or U.S. Pat. Nos. 7,965,336 and/or 7,480,149, which are herebyincorporated herein by reference in their entireties. The imaging arraysensor may comprise any suitable sensor, and may utilize various imagingsensors or imaging array sensors or cameras or the like, such as a CMOSimaging array sensor, a CCD sensor or other sensors or the like, such asthe types described in U.S. Pat. Nos. 5,550,677; 5,670,935; 5,760,962;5,715,093; 5,877,897; 6,922,292; 6,757,109; 6,717,610; 6,590,719;6,201,642; 6,498,620; 5,796,094; 6,097,023; 6,320,176; 6,559,435;6,831,261; 6,806,452; 6,396,397; 6,822,563; 6,946,978; 7,339,149;7,038,577; 7,004,606 and/or 7,720,580, and/or U.S. patent applicationSer. No. 10/534,632, filed May 11, 2005, now U.S. Pat. No. 7,965,336;and/or PCT Application No. PCT/US2008/076022, filed Sep. 11, 2008 andpublished Mar. 19, 2009 as International Publication No. WO 2009/036176,and/or PCT Application No. PCT/US2008/078700, filed Oct. 3, 2008 andpublished Apr. 9, 2009 as International Publication No. WO 2009/046268,which are all hereby incorporated herein by reference in theirentireties.

The camera module and circuit chip or board and imaging sensor may beimplemented and operated in connection with various vehicularvision-based systems, and/or may be operable utilizing the principles ofsuch other vehicular systems, such as a vehicle headlamp control system,such as the type disclosed in U.S. Pat. Nos. 5,796,094; 6,097,023;6,320,176; 6,559,435; 6,831,261; 7,004,606; 7,339,149 and/or 7,526,103,which are all hereby incorporated herein by reference in theirentireties, a rain sensor, such as the types disclosed in commonlyassigned U.S. Pat. Nos. 6,353,392; 6,313,454; 6,320,176 and/or7,480,149, which are hereby incorporated herein by reference in theirentireties, a vehicle vision system, such as a forwardly, sidewardly orrearwardly directed vehicle vision system utilizing principles disclosedin U.S. Pat. Nos. 5,550,677; 5,670,935; 5,760,962; 5,877,897; 5,949,331;6,222,447; 6,302,545; 6,396,397; 6,498,620; 6,523,964; 6,611,202;6,201,642; 6,690,268; 6,717,610; 6,757,109; 6,802,617; 6,806,452;6,822,563; 6,891,563; 6,946,978 and/or 7,859,565, which are all herebyincorporated herein by reference in their entireties, a trailer hitchingaid or tow check system, such as the type disclosed in U.S. Pat. No.7,005,974, which is hereby incorporated herein by reference in itsentirety, a reverse or sideward imaging system, such as for a lanechange assistance system or lane departure warning system or for a blindspot or object detection system, such as imaging or detection systems ofthe types disclosed in U.S. Pat. Nos. 7,720,580; 7,038,577; 5,929,786and/or 5,786,772, and/or U.S. patent application Ser. No. 11/239,980,filed Sep. 30, 2005, now U.S. Pat. No. 7,881,496, and/or U.S.provisional applications, Ser. No. 60/628,709, filed Nov. 17, 2004; Ser.No. 60/614,644, filed Sep. 30, 2004; Ser. No. 60/618,686, filed Oct. 14,2004; Ser. No. 60/638,687, filed Dec. 23, 2004, which are herebyincorporated herein by reference in their entireties, a video device forinternal cabin surveillance and/or video telephone function, such asdisclosed in U.S. Pat. Nos. 5,760,962; 5,877,897; 6,690,268 and/or7,370,983, and/or U.S. patent application Ser. No. 10/538,724, filedJun. 13, 2005 and published Mar. 9, 2006 as U.S. Publication No.US-2006-0050018, which are hereby incorporated herein by reference intheir entireties, a traffic sign recognition system, a system fordetermining a distance to a leading or trailing vehicle or object, suchas a system utilizing the principles disclosed in U.S. Pat. Nos.6,396,397 and/or 7,123,168, which are hereby incorporated herein byreference in their entireties, and/or the like.

Optionally, the circuit board or chip may include circuitry for theimaging array sensor and or other electronic accessories or features,such as by utilizing compass-on-a-chip or EC driver-on-a-chip technologyand aspects such as described in U.S. Pat. No. 7,255,451 and/or U.S.Pat. No. 7,480,149; and/or U.S. patent applications, Ser. No.11/226,628, filed Sep. 14, 2005 and published Mar. 23, 2006 as U.S.Publication No. US-2006-0061008, and/or Ser. No. 12/578,732, filed Oct.14, 2009, now U.S. Pat. No. 9,487,144, which are hereby incorporatedherein by reference in their entireties.

Optionally, the vision system may include a display for displayingimages captured by one or more of the imaging sensors for viewing by thedriver of the vehicle while the driver is normally operating thevehicle. Optionally, for example, the vision system may include a videodisplay device disposed at or in the interior rearview mirror assemblyof the vehicle, such as by utilizing aspects of the video mirror displaysystems described in U.S. Pat. No. 6,690,268 and/or U.S. patentapplication Ser. No. 13/333,337, filed Dec. 21, 2011, now U.S. Pat. No.9,264,672, which are hereby incorporated herein by reference in theirentireties. The video mirror display may comprise any suitable devicesand systems and optionally may utilize aspects of the compass displaysystems described in U.S. Pat. Nos. 7,370,983; 7,329,013; 7,308,341;7,289,037; 7,249,860; 7,004,593; 4,546,551; 5,699,044; 4,953,305;5,576,687; 5,632,092; 5,677,851; 5,708,410; 5,737,226; 5,802,727;5,878,370; 6,087,953; 6,173,508; 6,222,460; 6,513,252 and/or 6,642,851,and/or European patent application, published Oct. 11, 2000 underPublication No. EP 0 1043566, and/or U.S. patent application Ser. No.11/226,628, filed Sep. 14, 2005 and published Mar. 23, 2006 as U.S.Publication No. US-2006-0061008, which are all hereby incorporatedherein by reference in their entireties. Optionally, the video mirrordisplay screen or device may be operable to display images captured by arearward viewing camera of the vehicle during a reversing maneuver ofthe vehicle (such as responsive to the vehicle gear actuator beingplaced in a reverse gear position or the like) to assist the driver inbacking up the vehicle, and optionally may be operable to display thecompass heading or directional heading character or icon when thevehicle is not undertaking a reversing maneuver, such as when thevehicle is being driven in a forward direction along a road (such as byutilizing aspects of the display system described in PCT Application No.PCT/US2011/056295, filed Oct. 14, 2011 and published Apr. 19, 2012 asInternational Publication No. WO 2012/051500, which is herebyincorporated herein by reference in its entirety).

Optionally, the vision system (utilizing the forward facing camera and arearward facing camera and other cameras disposed at the vehicle withexterior fields of view) may be part of or may provide a display of atop-down view or birds-eye view system of the vehicle or a surround viewat the vehicle, such as by utilizing aspects of the vision systemsdescribed in PCT Application No. PCT/US10/25545, filed Feb. 26, 2010 andpublished on Sep. 2, 2010 as International Publication No. WO2010/099416, and/or PCT Application No. PCT/US10/47256, filed Aug. 31,2010 and published Mar. 10, 2011 as International Publication No. WO2011/028686, and/or PCT Application No. PCT/US2011/062834, filed Dec. 1,2011 and published Jun. 7, 2012 as International Publication No. WO2012/075250, and/or PCT Application No. PCT/US2012/048993, filed Jul.31, 2012 and published Feb. 7, 2013 as International Publication No. WO2013/019795, and/or PCT Application No. PCT/US11/62755, filed Dec. 1,2011 and published Jun. 7, 2012 as International Publication No. WO2012-075250, and/or PCT Application No. PCT/CA2012/000378, filed Apr.25, 2012, and published Nov. 1, 2012 as International Publication No. WO2012/145822, and/or PCT Application No. PCT/US2012/066571, filed Nov.27, 2012, and published Jun. 6, 2013 as International Publication No. WO2013/081985, and/or U.S. patent application Ser. No. 13/333,337, filedDec. 21, 2011, now U.S. Pat. No. 9,264,672, and/or U.S. provisionalapplications, Ser. No. 61/615,410, filed Mar. 26, 2012, which are herebyincorporated herein by reference in their entireties.

Optionally, a video mirror display may be disposed rearward of andbehind the reflective element assembly and may comprise a display suchas the types disclosed in U.S. Pat. Nos. 5,530,240; 6,329,925;7,855,755; 7,626,749; 7,581,859; 7,446,650; 7,370,983; 7,338,177;7,274,501; 7,255,451; 7,195,381; 7,184,190; 5,668,663; 5,724,187 and/or6,690,268, and/or in U.S. patent applications, Ser. No. 12/091,525,filed Apr. 25, 2008, now U.S. Pat. No. 7,855,755; Ser. No. 11/226,628,filed Sep. 14, 2005 and published Mar. 23, 2006 as U.S. Publication No.US-2006-0061008; and/or Ser. No. 10/538,724, filed Jun. 13, 2005 andpublished Mar. 9, 2006 as U.S. Publication No. US-2006-0050018, whichare all hereby incorporated herein by reference in their entireties. Thedisplay is viewable through the reflective element when the display isactivated to display information. The display element may be any type ofdisplay element, such as a vacuum fluorescent (VF) display element, alight emitting diode (LED) display element, such as an organic lightemitting diode (OLED) or an inorganic light emitting diode, anelectroluminescent (EL) display element, a liquid crystal display (LCD)element, a video screen display element or backlit thin film transistor(TFT) display element or the like, and may be operable to displayvarious information (as discrete characters, icons or the like, or in amulti-pixel manner) to the driver of the vehicle, such as passenger sideinflatable restraint (PSIR) information, tire pressure status, and/orthe like. The mirror assembly and/or display may utilize aspectsdescribed in U.S. Pat. Nos. 7,184,190; 7,255,451; 7,446,924 and/or7,338,177, which are all hereby incorporated herein by reference intheir entireties. The thicknesses and materials of the coatings on thesubstrates of the reflective element may be selected to provide adesired color or tint to the mirror reflective element, such as a bluecolored reflector, such as is known in the art and such as described inU.S. Pat. Nos. 5,910,854; 6,420,036 and/or 7,274,501, which are herebyincorporated herein by reference in their entireties.

Optionally, the display or displays and any associated user inputs maybe associated with various accessories or systems, such as, for example,a tire pressure monitoring system or a passenger air bag status or agarage door opening system or a telematics system or any other accessoryor system of the mirror assembly or of the vehicle or of an accessorymodule or console of the vehicle, such as an accessory module or consoleof the types described in U.S. Pat. Nos. 7,289,037; 6,877,888;6,824,281; 6,690,268; 6,672,744; 6,386,742 and 6,124,886, and/or U.S.patent application Ser. No. 10/538,724, filed Jun. 13, 2005 andpublished Mar. 9, 2006 as U.S. Publication No. US-2006-0050018, whichare hereby incorporated herein by reference in their entireties.

Changes and modifications to the specifically described embodiments maybe carried out without departing from the principles of the presentinvention, which is intended to be limited only by the scope of theappended claims as interpreted according to the principles of patentlaw.

The invention claimed is:
 1. A camera module for a vehicle, said cameramodule comprising: a housing that houses (i) a main circuit boardelectrically connected with an imager circuit board via a flexibleribbon cable, (ii) an imager disposed on said imager circuit board,(iii) a lens barrel accommodating at least one lens and (iv) a lensholder; wherein the imager disposed on said imager circuit boardcomprises a CMOS photosensor array having at least one millionphotosensor elements arranged in rows and columns; wherein said housingcomprises an upper cover and a lower cover, and wherein the upper coverand the lower cover are joined together; wherein said main circuit boardcomprises a printed circuit board (main PCB) having a first planar sideand an opposing second planar side separated from the first planar sideby a thickness dimension of the main PCB of said main circuit board;wherein said imager circuit board comprises a printed circuit board(imager PCB) having a first planar side and an opposing second planarside separated from the first planar side by a thickness dimension ofthe imager PCB of said imager circuit board; wherein circuitry disposedat the main PCB of said main circuit board comprises (i) first circuitrydisposed at the first planar side of the main PCB of said main circuitboard and (ii) second circuitry disposed at the second planar side ofthe main PCB of said main circuit board; wherein the second circuitrydisposed at the second planar side of the main PCB of said main circuitboard comprises an image processor; wherein said image processor isoperable for processing image data captured by the imager; wherein, withthe imager operated to capture image data, image data captured by theimager is provided via said flexible ribbon cable to circuitry disposedat the main PCB of said main circuit board; wherein said housing, withsaid upper cover and said lower cover joined together, comprises a frontportion and a rear portion; wherein said front portion is in front ofsaid rear portion; wherein said main circuit board is accommodatedwithin said front and rear portions; wherein the imager is accommodatedwithin said rear portion and is not accommodated within said frontportion of said housing; wherein said housing of said camera module hasbreadth and length, and wherein the main PCB of said main circuit boardextends across the breadth of said housing and along the length of saidhousing; wherein said rear portion of said housing has height; whereinsaid front portion of said housing has height; wherein the maximumheight dimension of said rear portion of said housing is greater thanthe maximum height dimension of said front portion of said housing;wherein the upper cover at said rear portion of said housing comprisesan opening, and wherein the imager views to exterior of said housing viasaid opening; wherein the lens barrel extends through said opening toprotrude outside said housing; wherein the lens barrel is tilted at anacute angle upward relative to the plane of the main PCB of said maincircuit board; and wherein the first circuitry disposed at the firstplanar side of the main PCB of said main circuit board comprises anelectrical socket connector configured for electrical connection to aplug connector of a vehicular wire harness.
 2. The camera module ofclaim 1, wherein the lens holder is attached at an inner surface of theupper cover at said rear portion of said housing.
 3. The camera moduleof claim 2, wherein said flexible ribbon cable provides LVDS signals tothe second circuitry disposed at the second planar side of the main PCBof said main circuit board.
 4. The camera module of claim 3, whereinsaid image processor comprises an image processor chip, and wherein aheat sink is in contact with said image processor chip to dissipate heatgenerated by said image processor chip.
 5. The camera module of claim 1,wherein said housing is configured for detachable mounting at a mountingbracket disposed at an in-cabin side of a windshield of a vehicleequipped with said camera module.
 6. The camera module of claim 5,wherein the imager, with said camera module mounted at the in-cabin sideof the windshield as installed in the equipped vehicle, has theprincipal axis of its forward view directed within 2 degrees ofhorizontal.
 7. The camera module of claim 5, wherein the windshield asinstalled in the equipped vehicle is sloped relative to horizontal at anacute angle in a range of 24 degrees to 28 degrees, and wherein theimager, with said camera module mounted at the in-cabin side of thewindshield, has the principal axis of its forward view directed at anangle within 2 degrees of horizontal.
 8. The camera module of claim 5,wherein, with said camera module mounted at the in-cabin side of thewindshield of the equipped vehicle, the imager is within 4 mm distanceto a portion of the windshield that the imager views through.
 9. Thecamera module of claim 5, wherein with said camera module mounted at thein-cabin side of the windshield of the equipped vehicle, image datacaptured by the imager provided via said flexible ribbon cable tocircuitry of the main PCB of said main circuit board is processed bysaid image processor for at least three driving assist systems of theequipped vehicle, and wherein the at least three driving assist systemsof the equipped vehicle comprise (i) a headlamp control system of theequipped vehicle, (ii) a traffic sign recognition system of the equippedvehicle and (iii) a lane departure warning system of the equippedvehicle.
 10. The camera module of claim 5, wherein, with said cameramodule mounted at the in-cabin side of the windshield of the equippedvehicle, a stray light shield is present that reduces incidence of straylight at the imager.
 11. The camera module of claim 10, wherein saidstray light shield is formed of a polymeric material in an injectionmolding operation.
 12. The camera module of claim 11, wherein said straylight shield is separate from said housing of said camera module. 13.The camera module of claim 12, wherein said stray light shield isconfigured to attach at said housing of said camera module.
 14. Thecamera module of claim 10, wherein said stray light shield comprises abase portion and side walls that extend upward from said base portion soas to establish a pocket.
 15. The camera module of claim 14, wherein atleast said base portion of said stray light shield comprises light trapsconfigured to at least partially trap extraneous light emanating fromexterior the equipped vehicle and passing through the windshield of theequipped vehicle so as to be incident at said base portion, said lighttraps reducing incidence of extraneous light at the imager.
 16. Thecamera module of claim 15, wherein said light traps comprise a pluralityof shaped light absorbing elements that are spaced apart and shaped totrap light, and wherein said shaped light absorbing elements comprise aplurality of generally vertical ribs each having a first surface and asecond surface opposite said first surface, and wherein said firstsurface of a given rib is closer to the windshield than said secondsurface of the given rib, and wherein said first surface is configuredto be at an angle of less than or equal to five degrees relative tovertical and said second surface is configured to be at an angle of lessthan or equal to ten degrees relative to vertical when said cameramodule is mounted at the in-cabin side of the windshield of the equippedvehicle of the equipped vehicle, and wherein said first and secondsurfaces are different so that each of said ribs narrows towards itsupper end, and wherein a ratio of a distance between adjacent ribs tothe height dimension of the adjacent ribs is greater than one, andwherein, with said camera module mounted at the in-cabin side of thewindshield of the equipped vehicle of the equipped vehicle, (i) saidfirst surface is at an angle of zero degrees relative to vertical and(ii) said second surface is at an angle of five degrees relative tovertical.
 17. The camera module of claim 5, wherein structure of saidhousing is configured to cooperate with corresponding structure of themounting bracket so that, with said camera module mounted at thein-cabin side of the windshield of the equipped vehicle, said cameramodule is mounted at the windshield with the imager viewing through thewindshield in a forward direction of travel of the equipped vehicle. 18.The camera module of claim 17, wherein, with said camera module mountedat the windshield of the equipped vehicle, the mounting bracket at leastpartially establishes angle of view of the imager relative to thewindshield.
 19. The camera module of claim 17, wherein one side of themounting bracket comprises structure configured to cooperate withcorresponding other structure of said housing of said camera module, andwherein the structure of the mounting bracket and the other structure ofsaid housing of said camera module cooperate to detachably mount saidcamera module at the in-cabin side of the windshield.
 20. The cameramodule of claim 19, wherein an opposing other side of the mountingbracket is configured for adhesive attachment at the in-cabin side ofthe windshield of the equipped vehicle.
 21. The camera module of claim17, wherein the windshield as installed in the equipped vehicle issloped relative to horizontal at an acute windshield angle, and whereinthe mounting bracket is configured and constructed so that, with saidcamera module mounted at the in-cabin side of the windshield that issloped relative to horizontal at the acute windshield angle, the imagerhas the principal axis of its forward view directed at an angle closerto horizontal than the acute windshield angle of the windshield tohorizontal.
 22. The camera module of claim 17, wherein said housingattaches at the mounting bracket via a mechanical clip-and-notchstructure.
 23. The camera module of claim 5, wherein, with said cameramodule mounted at the in-cabin side of the windshield of the equippedvehicle, a stray light shield is present that reduces incidence of straylight at the imager, and wherein said stray light shield is separatefrom the mounting bracket.
 24. The camera module of claim 23, whereinsaid stray light shield is configured to attach at the mounting bracket.25. The camera module of claim 5, wherein, with said camera modulemounted at the in-cabin side of the windshield of the equipped vehicle,a stray light shield is present that reduces incidence of stray light atthe imager, and wherein the mounting bracket is formed of a polymericmaterial in an injection molding operation, and wherein said stray lightshield is integrally formed with the mounting bracket by injectionmolding of polymeric material in the injection molding operation andconstitutes an integral part of the mounting bracket.
 26. The cameramodule of claim 5, wherein, with said camera module mounted at thein-cabin side of the windshield of the equipped vehicle, a stray lightshield is present that reduces incidence of stray light at the imager,and wherein said stray light shield is formed of a polymeric material inan injection molding operation, and wherein said stray light shieldcomprises a base portion and tapering side walls that extend upward fromsaid base portion so as to establish a tapered pocket.
 27. The cameramodule of claim 1, wherein the lens holder is mechanically attached atan inner surface of the upper cover at said rear portion of saidhousing, and wherein said imager circuit board is disposed at said rearportion of said housing and is tilted at an acute angle with respect tothe plane of the main PCB of said main circuit board.
 28. The cameramodule of claim 1, wherein the lens barrel is tilted upward at an acuteangle between 10 degrees and 20 degrees relative to the plane of themain PCB of said main circuit board.
 29. The camera module of claim 1,wherein the lens holder comprises a first opening therethrough, andwherein the lens holder comprises a second opening therethrough, andwherein the upper cover at said rear portion of said housing comprises afirst threaded hole that corresponds with the first opening of the lensholder, and wherein the upper cover at said rear portion of said housingcomprises a second threaded hole that corresponds with the secondopening of the lens holder, and wherein the lens holder is mechanicallyattached at an inner surface of the upper cover at said rear portion ofsaid housing by (i) a first screw fastener that passes through the firstopening of the lens holder and that screws into the first threaded holeof the upper cover at said rear portion of said housing and (ii) asecond screw fastener that passes through the second opening of the lensholder and that screws into the second threaded hole of the upper coverat said rear portion of said housing.
 30. The camera module of claim 1,wherein the main PCB of said main circuit board comprises a holesurrounded by material of the main PCB that extends from the firstplanar side of the main PCB of said main circuit board to the secondplanar side of the main PCB of said main circuit board.
 31. The cameramodule of claim 1, wherein the main PCB of said main circuit boardcomprises a cut-out that extends from the first planar side of the mainPCB of said main circuit board to the second planar side of the main PCBof said main circuit board.
 32. The camera module of claim 1, whereinthe upper cover and the lower cover are joined together by a pluralityof screw fasteners.
 33. The camera module of claim 1, wherein the lensholder is mechanically attached by a plurality of screw fasteners at aninner surface of the upper cover at said rear portion of said housing.34. The camera module of claim 1, wherein the breadth of said housinghas a maximum dimension of 100 mm or less, and wherein the length ofsaid housing has a maximum dimension of 100 mm or less, and wherein theheight of said rear portion of said housing has a maximum dimension of35 mm or less.
 35. The camera module of claim 1, wherein the lens holderis fixed to said imager circuit board.
 36. The camera module of claim 1,wherein the lens holder is fixed to said imager circuit board by atleast one screw fastener that extends through a hole in said imagercircuit board and mates with a threaded hole in the lens holder.
 37. Thecamera module of claim 1, wherein the lens barrel is adhesively bondedto the lens holder.
 38. The camera module of claim 1, wherein the lensbarrel is screwed into the lens holder.
 39. The camera module of claim1, wherein circuitry disposed at the main PCB comprises at least onememory component.
 40. The camera module of claim 39, wherein circuitrydisposed at the main PCB comprises at least one power supply component.41. The camera module of claim 40, wherein said image processorcomprises an image processor chip disposed at the main PCB, and wherein(i) the at least one memory component disposed at the main PCB, (ii) theat least one power supply component disposed at the main PCB, (iii) saidimage processor chip disposed at the main PCB and (iv) the electricalsocket connector configured for electrical connection to the plugconnector of the vehicular wire harness are electrically operativelycoupled together by conductive traces and vias of the main PCB.
 42. Acamera module for a vehicle, said camera module comprising: a housingthat houses (i) a main circuit board electrically connected with animager circuit board via a flexible ribbon cable, (ii) an imagerdisposed on said imager circuit board, (iii) a lens barrel accommodatingat least one lens and (iv) a lens holder; wherein the imager disposed onsaid imager circuit board comprises a photosensor array having at leastone million photosensor elements arranged in rows and columns; whereinsaid housing comprises an upper cover and a lower cover, and wherein theupper cover and the lower cover are joined together; wherein said maincircuit board comprises a multilayered printed circuit board (main PCB)having a first planar side and an opposing second planar side separatedfrom the first planar side by a thickness dimension of the main PCB ofsaid main circuit board; wherein said imager circuit board comprises aprinted circuit board (imager PCB) having a first planar side and anopposing second planar side separated from the first planar side by athickness dimension of the imager PCB of said imager circuit board;wherein circuitry disposed at the main PCB of said main circuit boardcomprises (i) first circuitry disposed at the first planar side of themain PCB of said main circuit board and (ii) second circuitry disposedat the second planar side of the main PCB of said main circuit board;wherein the second circuitry disposed at the second planar side of themain PCB of said main circuit board comprises an image processor chip;wherein said image processor chip is operable for processing image datacaptured by the imager; wherein, with the imager operated to captureimage data, image data captured by the imager is provided via saidflexible ribbon cable to circuitry disposed at the main PCB of said maincircuit board; wherein said housing, with said upper cover and saidlower cover joined together, comprises a front portion and a rearportion; wherein said front portion is in front of said rear portion;wherein said main circuit board is accommodated within said front andrear portions; wherein the imager is accommodated within said rearportion and is not accommodated within said front portion of saidhousing; wherein said housing of said camera module has breadth andlength, and wherein the main PCB of said main circuit board extendsacross the breadth of said housing and along the length of said housing;wherein said rear portion of said housing has height; wherein said frontportion of said housing has height; wherein the maximum height dimensionof said rear portion of said housing is greater than the maximum heightdimension of said front portion of said housing; wherein the lens holdercomprises a first opening therethrough; wherein the lens holdercomprises a second opening therethrough; wherein the upper cover at saidrear portion of said housing comprises a first threaded hole thatcorresponds with the first opening of the lens holder, and wherein theupper cover at said rear portion of said housing comprises a secondthreaded hole that corresponds with the second opening of the lensholder; wherein the lens holder is mechanically attached at an innersurface of the upper cover at said rear portion of said housing by (i) afirst screw fastener that passes through the first opening of the lensholder and that screws into the first threaded hole of the upper coverat said rear portion of said housing and (ii) a second screw fastenerthat passes through the second opening of the lens holder and thatscrews into the second threaded hole of the upper cover at said rearportion of said housing; wherein the upper cover at said rear portion ofsaid housing comprises an opening, and wherein the imager views toexterior of said housing via said opening; wherein the lens barrelextends through said opening to protrude outside said housing; whereinthe lens barrel is tilted at an acute angle upward relative to the planeof the main PCB of said main circuit board; and wherein the firstcircuitry disposed at the first planar side of the main PCB of said maincircuit board comprises an electrical socket connector configured forelectrical connection to a plug connector of a vehicular wire harness.43. The camera module of claim 42, wherein said imager circuit board isdisposed at said rear portion of said housing and is tilted at an acuteangle with respect to the plane of the main PCB of said main circuitboard.
 44. The camera module of claim 43, wherein the lens barrel istilted upward at an acute angle between 10 degrees and 20 degreesrelative to the plane of the main PCB of said main circuit board. 45.The camera module of claim 42, wherein a first electrical connector isdisposed at the second planar side of the main PCB of said main circuitboard, and wherein a second electrical connector of said flexible ribboncable electrically connects with said first electrical disposed at thesecond planar side of the main PCB of said main circuit board.
 46. Thecamera module of claim 42, wherein said flexible ribbon cable providesLVDS signals to the second circuitry disposed at the second planar sideof the main PCB of said main circuit board.
 47. The camera module ofclaim 46, wherein the main PCB of said main circuit board comprises ahole surrounded by material of the main PCB that extends from the firstplanar side of the main PCB of said main circuit board to the secondplanar side of the main PCB of said main circuit board, and wherein saidflexible ribbon cable extending from said imager circuit board passesthrough the hole of the main PCB.
 48. The camera module of claim 46,wherein the main PCB of said main circuit board comprises a cut-out thatextends from the first planar side of the main PCB of said main circuitboard to the second planar side of the main PCB of said main circuitboard, and wherein said flexible ribbon cable extending from said imagercircuit board traverses the cut-out of the main PCB for connecting saidflexible ribbon cable with an electrical connector disposed at thesecond planar side of the main PCB.
 49. The camera module of claim 42,wherein a heat sink is in contact with said image processor chip todissipate heat generated by said image processor chip.
 50. The cameramodule of claim 42, wherein the lens holder is fixed to said imagercircuit board.
 51. The camera module of claim 50, wherein the uppercover and the lower cover are joined together by a plurality of screwfasteners.
 52. The camera module of claim 51, wherein with said cameramodule mounted in a vehicle equipped with said camera module, image datacaptured by the imager provided via said flexible ribbon cable tocircuitry of the main PCB of said main circuit board is processed bysaid image processor chip for at least three driving assist systems ofthe equipped vehicle, and wherein the at least three driving assistsystems of the equipped vehicle comprise (i) a headlamp control systemof the equipped vehicle, (ii) a traffic sign recognition system of theequipped vehicle and (iii) a lane departure warning system of theequipped vehicle.
 53. The camera module of claim 42, wherein the lensholder is fixed to said imager circuit board by at least one screwfastener that extends through a hole in said imager circuit board andmates with a threaded hole in the lens holder.
 54. The camera module ofclaim 42, wherein said housing is configured for detachable mounting ata mounting bracket disposed at an in-cabin side of a windshield of avehicle equipped with said camera module.
 55. The camera module of claim54, wherein structure of said housing is configured to cooperate withcorresponding structure of the mounting bracket so that, with saidcamera module mounted at the in-cabin side of the windshield of theequipped vehicle, said camera module is mounted at the windshield withthe imager viewing through the windshield in a forward direction oftravel of the equipped vehicle.
 56. The camera module of claim 55,wherein, with said camera module mounted at the windshield of theequipped vehicle, the mounting bracket at least partially establishesangle of view of the imager relative to the windshield.
 57. The cameramodule of claim 55, wherein the windshield as installed in the equippedvehicle is sloped relative to horizontal at an acute windshield angle,and wherein the mounting bracket is configured and constructed so that,with said camera module mounted at the in-cabin side of the windshieldthat is sloped relative to horizontal at the acute windshield angle, theimager has the principal axis of its forward view directed at an anglecloser to horizontal than the acute windshield angle of the windshieldto horizontal.
 58. The camera module of claim 42, wherein, with saidcamera module mounted at an in-cabin side of a windshield of a vehicleequipped with said camera module, a stray light shield is present thatreduces incidence of stray light at the imager.
 59. The camera module ofclaim 58, wherein said stray light shield comprises a base portion andside walls that extend upward from said base portion so as to establisha pocket.
 60. The camera module of claim 58, wherein said stray lightshield is formed of a polymeric material in an injection moldingoperation.
 61. The camera module of claim 60, wherein said stray lightshield is separate from said housing of said camera module.
 62. Thecamera module of claim 61, wherein said stray light shield is configuredto attach at said housing of said camera module.
 63. The camera moduleof claim 42, wherein the breadth of said housing has a maximum dimensionof 100 mm or less, and wherein the length of said housing has a maximumdimension of 100 mm or less, and wherein the height of said rear portionof said housing has a maximum dimension of 35 mm or less.
 64. The cameramodule of claim 63, wherein said imager circuit board is disposed atsaid rear portion of said housing and is tilted at an acute angle withrespect to the plane of the main PCB of said main circuit board.
 65. Thecamera module of claim 42, wherein, with said camera module mounted atan in-cabin side of a windshield of a vehicle equipped with said cameramodule, the imager is within 4 mm distance to a portion of thewindshield that the imager views through.
 66. The camera module of claim42, wherein the lens barrel is adhesively bonded to the lens holder. 67.The camera module of claim 42, wherein the lens barrel is screwed intothe lens holder.
 68. The camera module of claim 42, wherein circuitrydisposed at the main PCB comprises at least one memory component. 69.The camera module of claim 68, wherein circuitry disposed at the mainPCB comprises at least one power supply component.
 70. The camera moduleof claim 69, wherein (i) the at least one memory component disposed atthe main PCB, (ii) the at least one power supply component disposed atthe main PCB, (iii) said image processor chip disposed at the main PCBand (iv) the electrical socket connector configured for electricalconnection to the plug connector of the vehicular wire harness areelectrically operatively coupled together by conductive traces and viasof the main PCB.
 71. A camera module for a vehicle, said camera modulecomprising: a housing that houses (i) a main circuit board electricallyconnected with an imager circuit board via a flexible ribbon cable, (ii)an imager disposed on said imager circuit board, (iii) a lens barrelaccommodating at least one lens and (iv) a lens holder; wherein theimager disposed on said imager circuit board comprises a photosensorarray having at least one million photosensor elements arranged in rowsand columns; wherein said housing comprises an upper cover and a lowercover, and wherein the upper cover and the lower cover are joinedtogether; wherein said main circuit board comprises a multilayeredprinted circuit board (main PCB) having a first planar side and anopposing second planar side separated from the first planar side by athickness dimension of the main PCB of said main circuit board; whereinsaid imager circuit board comprises a printed circuit board (imager PCB)having a first planar side and an opposing second planar side separatedfrom the first planar side by a thickness dimension of the imager PCB ofsaid imager circuit board; wherein circuitry disposed at the main PCB ofsaid main circuit board comprises an image processor; wherein said imageprocessor is operable for processing image data captured by the imager;wherein, with the imager operated to capture image data, image datacaptured by the imager is provided via said flexible ribbon cable tocircuitry disposed at the main PCB of said main circuit board; whereinsaid housing, with said upper cover and said lower cover joinedtogether, comprises a front portion and a rear portion; wherein saidfront portion is in front of said rear portion; wherein said maincircuit board is accommodated within said front and rear portions;wherein the imager is accommodated within said rear portion and is notaccommodated within said front portion of said housing; wherein the lensholder is attached at an inner surface of the upper cover at said rearportion of said housing; wherein said housing of said camera module hasbreadth and length, and wherein the main PCB of said main circuit boardextends across the breadth of said housing and along the length of saidhousing; wherein said rear portion of said housing has height; whereinsaid front portion of said housing has height; wherein the maximumheight dimension of said rear portion of said housing is greater thanthe maximum height dimension of said front portion of said housing;wherein the breadth of said housing has a maximum dimension of 100 mm orless; wherein the length of said housing has a maximum dimension of 100mm or less; wherein the height of said rear portion of said housing hasa maximum dimension of 35 mm or less; wherein the upper cover at saidrear portion of said housing comprises an opening, and wherein theimager views to exterior of said housing via said opening; wherein thelens barrel extends through said opening to protrude outside saidhousing; and wherein circuitry of the main PCB of said main circuitboard comprises an electrical socket connector configured for electricalconnection to a plug connector of a vehicular wire harness.
 72. Thecamera module of claim 71, wherein said image processor comprises animage processor chip, and wherein a heat sink is in contact with saidimage processor chip to dissipate heat generated by said image processorchip.
 73. The camera module of claim 71, wherein the upper cover and thelower cover are joined together by a plurality of screw fasteners. 74.The camera module of claim 73, wherein the lens barrel is tilted upwardat an acute angle between 10 degrees and 20 degrees relative to theplane of the main PCB of said main circuit board.
 75. The camera moduleof claim 71, wherein said image processor comprises an image processorchip.
 76. The camera module of claim 75, wherein the main PCB of saidmain circuit board comprises a hole surrounded by material of the mainPCB that extends from the first planar side of the main PCB of said maincircuit board to the second planar side of the main PCB of said maincircuit board.
 77. The camera module of claim 75, wherein the main PCBof said main circuit board comprises a cut-out that extends from thefirst planar side of the main PCB of said main circuit board to thesecond planar side of the main PCB of said main circuit board.
 78. Thecamera module of claim 75, wherein said flexible ribbon cable providesLVDS signals to circuitry of the main PCB of said main circuit board.79. The camera module of claim 71, wherein the lens holder is fixed tosaid imager circuit board.
 80. The camera module of claim 79, whereinthe lens holder is fixed to said imager circuit board by at least onescrew fastener that extends through a hole in said imager circuit boardand mates with a threaded hole in the lens holder.
 81. The camera moduleof claim 71, wherein with said camera module mounted in a vehicleequipped with said camera module, image data captured by the imagerprovided via said flexible ribbon cable to circuitry of the main PCB ofsaid main circuit board is processed by said image processor for atleast three driving assist systems of the equipped vehicle, and whereinthe at least three driving assist systems of the equipped vehiclecomprise (i) a headlamp control system of the equipped vehicle, (ii) atraffic sign recognition system of the equipped vehicle and (iii) a lanedeparture warning system of the equipped vehicle.
 82. The camera moduleof claim 71, wherein said housing is configured for detachable mountingat a mounting bracket disposed at an in-cabin side of a windshield of avehicle equipped with said camera module.
 83. The camera module of claim82, wherein structure of said housing is configured to cooperate withcorresponding structure of the mounting bracket so that, with saidcamera module mounted at the in-cabin side of the windshield of theequipped vehicle, said camera module is mounted at the windshield withthe imager viewing through the windshield in a forward direction oftravel of the equipped vehicle.
 84. The camera module of claim 83,wherein, with said camera module mounted at the windshield of theequipped vehicle, the mounting bracket at least partially establishesangle of view of the imager relative to the windshield.
 85. The cameramodule of claim 83, wherein the windshield as installed in the equippedvehicle is sloped relative to horizontal at an acute windshield angle,and wherein the mounting bracket is configured and constructed so that,with said camera module mounted at the in-cabin side of the windshieldthat is sloped relative to horizontal at the acute windshield angle, theimager has the principal axis of its forward view directed at an anglecloser to horizontal than the acute windshield angle of the windshieldto horizontal.
 86. The camera module of claim 82, wherein the imager,with said camera module mounted at the in-cabin side of the windshieldas installed in the equipped vehicle, has the principal axis of itsforward view directed within 2 degrees of horizontal.
 87. The cameramodule of claim 82, wherein the windshield as installed in the equippedvehicle is sloped relative to horizontal at an acute angle in a range of24 degrees to 28 degrees, and wherein the imager, with said cameramodule mounted at the in-cabin side of the windshield, has the principalaxis of its forward view directed at an angle within 2 degrees ofhorizontal.
 88. The camera module of claim 82, wherein, with said cameramodule mounted at the in-cabin side of the windshield of the equippedvehicle, a stray light shield is present that reduces incidence of straylight at the imager, and wherein said stray light shield is formed of apolymeric material in an injection molding operation, and wherein saidstray light shield comprises a base portion and tapering side walls thatextend upward from said base portion so as to establish a taperedpocket.
 89. The camera module of claim 71, wherein, with said cameramodule mounted at an in-cabin side of a windshield of a vehicle equippedwith said camera module, a stray light shield is present that reducesincidence of stray light at the imager.
 90. The camera module of claim89, wherein said stray light shield comprises a base portion and sidewalls that extend upward from said base portion so as to establish apocket.
 91. The camera module of claim 89, wherein said stray lightshield is formed of a polymeric material in an injection moldingoperation.
 92. The camera module of claim 91, wherein said stray lightshield is separate from said housing of said camera module.
 93. Thecamera module of claim 92, wherein said stray light shield is configuredto attach at said housing of said camera module.
 94. The camera moduleof claim 71, wherein said imager circuit board is disposed at said rearportion of said housing and is tilted at an acute angle with respect tothe plane of the main PCB of said main circuit board.
 95. The cameramodule of claim 71, wherein, with said camera module mounted at anin-cabin side of a windshield of a vehicle equipped with said cameramodule, the imager is within 4 mm distance to a portion of thewindshield that the imager views through.
 96. The camera module of claim71, wherein the lens holder comprises a first opening therethrough, andwherein the lens holder comprises a second opening therethrough, andwherein the upper cover at said rear portion of said housing comprises afirst threaded hole that corresponds with the first opening of the lensholder, and wherein the upper cover at said rear portion of said housingcomprises a second threaded hole that corresponds with the secondopening of the lens holder, and wherein the lens holder is mechanicallyattached at the inner surface of the upper cover at said rear portion ofsaid housing by (i) a first screw fastener that passes through the firstopening of the lens holder and that screws into the first threaded holeof the upper cover at said rear portion of said housing and (ii) asecond screw fastener that passes through the second opening of the lensholder and that screws into the second threaded hole of the upper coverat said rear portion of said housing.
 97. The camera module of claim 96,wherein the lens barrel is tilted at an acute angle upward relative tothe plane of the main PCB of said main circuit board.
 98. The cameramodule of claim 71, wherein the lens barrel is adhesively bonded to thelens holder.
 99. The camera module of claim 71, wherein the lens barrelis screwed into the lens holder.
 100. The camera module of claim 71,wherein circuitry disposed at the main PCB comprises at least one memorycomponent.
 101. The camera module of claim 100, wherein circuitrydisposed at the main PCB comprises at least one power supply component.102. The camera module of claim 101, wherein said image processorcomprises an image processor chip disposed at the main PCB, and wherein(i) the at least one memory component disposed at the main PCB, (ii) theat least one power supply component disposed at the main PCB, (iii) saidimage processor chip disposed at the main PCB and (iv) the electricalsocket connector configured for electrical connection to the plugconnector of the vehicular wire harness are electrically operativelycoupled together by conductive traces and vias of the main PCB.